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Adept Cobra
s600/s800 Robot
User's Guide
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Adept Cobra
s600/s800 Robot
User's Guide
P/N: 03017-000, Rev L1
May, 2013
5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598
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Copyright Notice
The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced
in whole or in part without prior written approval of Adept Technology, Inc. The information herein is
subject to change without notice and should not be construed as a commitment by Adept Technology,
Inc. The documentation is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation.
Critical evaluation of the documentation by the user is welcomed. Your comments assist us in
preparation of future documentation. Please submit your comments to: techpubs@adept.com.
Copyright 2003-2013 by Adept Technology, Inc. All rights reserved.
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,
Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks
of Adept Technology, Inc.
Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.
Adept ACE, Adept AIB, Adept Cobra s600, Adept Cobra s800, Adept eAIB, Adept SmartController CX,
Adept SmartController EX, Adept T2, Adept T20, eV+,and V+ are trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication
are the property of those respective companies.
Created in the United States of America
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Table of Contents
Chapter 1: Introduction 9
1.1 Product Description
Adept Cobra s600/s800™ Robots 9
AIB™, eAIB™ (Amplifiers in Base) 10
Adept SmartController™ 11
1.2 Dangers, Warnings, Cautions, and Notes
1.3 Safety Precautions
1.4 What to Do in an Emergency Situation
1.5 Additional Safety Information
Manufacturer’s Declaration of Conformity (MDOC) 13
Adept Robot Safety Guide 14
1.6 Intended Use of the Robots
1.7 Installation Overview
1.8 Manufacturer’s Declaration
1.9 How Can I Get Help?
Related Manuals 15
Adept Document Library 16
12
13
13
13
14
14
15
15
Chapter 2: Robot Installation 17
2.1 Transport and Storage
2.2 Unpacking and Inspecting the Adept Equipment
Before Unpacking 18
Upon Unpacking 18
2.3 Repacking for Relocation
2.4 Environmental and Facility Requirements
2.5 Mounting the Robot
Mounting Surface 19
Robot Mounting Procedure 20
2.6 Description of Connectors on Robot Interface Panel
17
18
18
18
19
21
9
Chapter 3: System Installation 25
3.1 System Cable Diagram
3.2 Cable and Parts List
3.3 Installing the SmartController
3.4 Connecting User-Supplied PC to SmartController
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26
26
27
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Table of Contents
PC Requirements 27
3.5 Installing Adept ACE Software
3.6 Cable Connections from Robot to SmartController
3.7 Connecting 24 VDC Power to Robot
Specifications for 24 VDC Power 28
Details for 24 VDC Mating Connector 29
Procedure for Creating 24 VDC Cable 30
Installing 24 VDC Robot Cable 30
3.8 Connecting 200-240 VAC Power to Robot
Specifications for AC Power 32
Details for AC Mating Connector 34
Creating the 200-240 VAC Cable 34
Installing AC Power Cable to Robot 35
3.9 Grounding the Adept Robot System
Grounding the Robot Base 35
Grounding Robot-Mounted Equipment 36
3.10 Installing User-Supplied Safety Equipment
27
27
28
31
35
36
Chapter 4: System Operation 37
4.1 Robot Status LED Description
4.2 Status Panel Fault Codes
4.3 Brakes
Programmable E-Stop Delay 39
Brake Release Button 39
4.4 Front Panel
4.5 Connecting Digital I/O to the System
Using Digital I/O on Robot XIO Connector 43
Optional I/O Products 44
XIO Input Signals 44
XIO Output Signals 46
XIO Breakout Cable 48
4.6 Starting the System for the First Time
Verifying Installation 50
Turning on Power 51
Starting Adept ACE 52
Enabling High Power 52
Verifying E-Stop Functions 52
Verify Robot Motions 53
4.7 Learning to Program the Adept Cobra s-Series Robot
37
37
39
40
41
50
53
Chapter 5: Maintenance 55
5.1 Field-replaceable Parts
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Table of Contents
5.2 Periodic Maintenance Schedule
5.3 Checking Safety Systems
5.4 Checking Robot Mounting Bolts
5.5 Checking for Oil Leakage
5.6 Lubricating Joint 3
Lubrication Procedure 57
5.7 Replacing the AIB or eAIB Chassis
Removing the AIB or eAIB Chassis 60
Installing a New AIB or eAIB Chassis 62
5.8 Commissioning a System with an eAIB
Safety Commissioning Utilities 64
E-Stop Configuration Utility 66
E-Stop Verification Utility 66
Teach Restrict Configuration Utility 67
Teach Restrict Verification Utility 67
5.9 Replacing the Encoder Battery Pack
Battery Replacement Time Periods 69
Battery Replacement Procedure 69
55
56
56
56
57
60
64
68
Chapter 6: Optional Equipment Installation 71
6.1 Installing End-Effectors
6.2 Removing and Installing the Tool Flange
Removing the Flange 71
Installing the Flange 72
6.3 User Connections on Robot
User Air Lines 72
User Electrical Lines 73
6.4 Internal User Connectors
SOLND Connector 75
OP3/4 Connector 75
EOAPWR Connector 76
Internal User Connector Output Specifications 76
ESTOP Connector 77
6.5 Mounting Locations for External Equipment
6.6 Installing the Robot Solenoid Kit
Tools Required 81
Procedure 81
6.7 Installing the Camera Bracket Kit
Tools Required 85
Procedure 85
6.8 DeviceNet Communication Link
Recommended Vendors for Mating Cables and Connectors 88
71
71
72
73
79
79
85
86
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Table of Contents
6.9 Installing Adjustable Hardstops
Joint 1 Adjustable Hardstops 89
Joint 2 Adjustable Hardstops 93
88
Chapter 7: Technical Specifications 101
7.1 Dimension Drawings
7.2 Cobra s600/s800 Robot Internal E-STOP Connections
7.3 XSYS/XSYSTEM Connector
7.4 XSLV Connector
7.5 Robot Specifications
101
107
107
108
108
Chapter 8: IP-65 Option 111
8.1 Cobra s800 IP-65 Classification
8.2 Installing Cable Seal Assembly
Cable Seal Identification 111
Installation Procedure 112
8.3 Robot Outer Link Cover Removal and Reinstallation
Cover Removal Procedure 114
Cover Reinstallation Procedure 115
8.4 Customer Requirements
Sealing the Tool Flange 116
Pressurizing the Robot 116
8.5 User Connectors
User Electrical and DeviceNet 117
User Air Lines 118
Robot Solenoid Option 119
8.6 Maintenance
IP-65 Bellows Replacement 119
8.7 Dimension Drawing for Cable Seal Assembly
111
111
113
116
117
119
121
Chapter 9: Cleanroom Robots 123
Cleanroom Specifications 123
9.1 Connections
9.2 Requirements
9.3 Exclusions and Incompatibilities
9.4 Cleanroom Maintenance
Bellows Replacement 125
Lubrication 125
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1.1 Product Description
Adept Cobra s600/s800™ Robots
The Adept Cobra s600 and s800 robots are four-axis SCARA robots (Selective Compliance
Assembly Robot Arm). See the following figure. Joints 1, 2, and 4 are rotational; Joint 3 is
translational. For a description of the robot joint locations, see Robot Joint Motions on page 10.
The Adept Cobra s600 and s800 robots require an Adept SmartController™ motion controller.
The robots are programmed and controlled using the SmartController, running on the Adept
SmartServo distributed motion control platform. Mechanical specifications for the Adept Cobra
s600 and s800 robots are provided in Robot Specifications on page 108.
NOTE:The descriptions and instructions in this manual apply to both the Cobra
s600 and the Cobra s800, except for instances where there is a difference, as in
dimension and work envelope drawings. In those cases the information is
presented for both robots.
Chapter 1: Introduction
Figure 1-1. Adept Cobra s800 Robot
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Chapter 1: Introduction
Joint 1
Inner
Link
Outer
Link
Joint 2
Joint 4
Joint 3
Figure 1-2. Robot Joint Motions
AIB™, eAIB™ (Amplifiers in Base)
The amplifiers for the Adept Cobra s600 and s800 robots are embedded in the base of the
robot. There are two versions offered:the AIB and the eAIB. Both provide power amplifiers and
full servo control.
Adept AIB and eAIBfeature:
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On-board digital I/O
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Low EMI for use with noise sensitive equipment
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No external fan for quiet robot operation
l 8 kHz servo rate to deliver low positional errors and superior path following
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Sine wave commutation to lower cogging torque and improve path following
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Digital feed forward design to maximize efficiency, torque, and velocity
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Temperature sensors on all amplifiers and motors for maximum reliability and easy
troubleshooting
Adept eAIB only:
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Hardware-based E-Stop and Teach Restrict controls
For improved safety relative to European standards implemented in 2012
The two amplifiers look very similar, and both fit either Cobra model.
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Chapter 1: Introduction
Figure 1-3. Amplifier on Robot, AIB, s600 Shown
Adept SmartController™
The SmartController is the foundation of Adept’s family of high-performance distributed
motion controllers. The SmartController is designed for use with:
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Adept Cobra s-Series robots
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Adept Quattro robots
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Adept Viper s-Series robots
l
Adept Python linear modules
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Adept MotionBlox-10
l
Adept sMI6 (SmartMotion)
The SmartController supports a conveyor tracking option, as well as other options. There are
two models available: the SmartController CX, which uses the V+ Operating System, and the
SmartController EX, which uses the eV+ Operating System. Both models offer scalability and
support for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE
1394 interface is the backbone of Adept SmartServo, Adept's distributed controls architecture
supporting Adept products. The SmartController also includes Fast Ethernet and DeviceNet.
See the following figure.
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Chapter 1: Introduction
Figure 1-4. Adept SmartController EX, CX
sDIO™ Module
The sDIO module provides 32 optical isolated digital inputs and 32 optical isolated outputs
and also includes an IEEE 1394 interface.
1.2 Dangers, Warnings, Cautions, and Notes
There are six levels of special alert notation used in Adept manuals. In descending order of
importance, they are:
DANGER:This indicates an imminently hazardous
electrical situation which, if not avoided, will result in
death or serious injury.
DANGER:This indicates an imminently hazardous
situation which, if not avoided, will result in death or
serious injury.
WARNING:This indicates a potentially hazardous
electrical situation which, if not avoided, could result in
injury or major damage to the equipment.
WARNING:This indicates a potentially hazardous
situation which, if not avoided, could result in injury or
major damage to the equipment.
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NOTE:Notes provide supplementary information, emphasize a point or procedure,
or give a tip for easier operation.
1.3 Safety Precautions
l
All personnel who install, operate, teach, program, or maintain the system must read
this guide, read the Adept Robot Safety Guide, and complete a training course for their
responsibilities in regard to the robot.
Chapter 1: Introduction
CAUTION:This indicates a situation which, if not
avoided, could result in damage to the equipment.
DANGER: An Adept Cobra s600/s800 robot can cause
serious injury or death, or damage to itself and other
equipment, if the following safety precautions are not
observed.
l
All personnel who design the robot system must read this guide, read the Adept Robot
Safety Guide, and must comply with all local and national safety regulations for the
location in which the robot is installed.
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The robot system must not be used for purposes other than described in Intended Use of
the Robots on page 14. Contact Adept if you are not sure of the suitability for your
application.
l
The user is responsible for providing safety barriers around the robot to prevent anyone
from accidentally coming into contact with the robot when it is in motion.
l
Power to the robot and its power supply must be locked out and tagged out before any
maintenance is performed.
1.4 What to Do in an Emergency Situation
Press any E-Stop button (a red push-button on a yellow background/field) and then follow the
internal procedures of your company or organization for an emergency situation. If a fire
occurs, use CO2to extinguish the fire.
1.5 Additional Safety Information
Adept provides other sources for more safety information:
Manufacturer’s Declaration of Conformity (MDOC)
This lists all standards with which each robot complies. For details, see Manufacturer’s
Declaration on page 15.
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Chapter 1: Introduction
Adept Robot Safety Guide
The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also
gives resources for more information on relevant standards.
It ships with each robot manual, and is also available from the Adept Document Library. For
details, see Adept Document Library on page 16.
1.6 Intended Use of the Robots
The Adept Cobra s600 and s800 robots are intended for use in parts assembly and material
handling for payloads less than 5.5 kg (12.1 lb). See Robot Specifications on page 108 for
complete information on the robot specifications. Refer to the Adept Robot Safety Guide for
details on the intended use of Adept robots.
1.7 Installation Overview
The system installation process is summarized in the following table. Also, refer to Robot
Installation on page 17 and System Installation on page 25.
NOTE:For dual-robot installations, see theAdept Dual-Robot Configuration Procedure,
which is available in the Adept Document Library.
Table 1-1. Installation Overview
Task to be Performed Reference Location
Mount the robot on a flat, secure mounting surface. See Mounting the Robot on page 19.
Install the SmartController, Front Panel, pendant,
and Adept ACE™ software.
Install the IEEE 1394 and XSYS cables between the
robot and SmartController.
Create a 24 VDC cable and connect it between the
SmartController and the user-supplied 24 VDC
power supply.
Create a 24 VDC cable and connect it between the
robot and the user-supplied 24 VDC power supply.
Create a 200-240 VAC cable and connect it between
the robot and the facility AC power source.
Install user-supplied safety barriers in the workcell. See Installing User-Supplied Safety
Learn about connecting digital I/O through the XIO
connector on the robot.
See Installing the SmartController on
page 26.
See Cable Connections from Robot to
SmartController on page 27.
See Installing the SmartController on
page 26.
See Connecting 24 VDC Power to
Robot on page 28.
See Connecting 200-240 VAC Power to
Robot on page 31.
Equipment on page 36.
See Using Digital I/O on Robot XIO
Connector on page 43.
Learn about starting the system for the first time. See Starting the System for the First
Time on page 50.
Learn about installing optional equipment, See Installing End-Effectors on page 71.
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Chapter 1: Introduction
Task to be Performed Reference Location
including end-effectors, user air and electrical lines,
external equipment, solenoids, etc.
1.8 Manufacturer’s Declaration
The Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems can
be found on the Adept website, in the Download Center of the Support section.
http://www.adept.com/support/downloads/file-search
NOTE:The Download Center requires that you are logged in for access. If you are
not logged in, you will be redirected to the Adept website Login page, and then
automatically returned to the Download Center when you have completed the login
process.
1.
From the Download Types drop-down list, select Manufacturer Declarations
2.
From the Product drop-down list, select your Adept robot product category (such as
Adept Cobra Robots, Adept Viper robots, etc.).
3.
Click Begin Search. The list of available documents is shown in the Search Results area,
which opens at the bottom of the page. You may need to scroll down to see it.
4.
Use the Description column to locate the document for your Adept robot, and then click
the corresponding Download ID number to access the Download Details page.
5.
On the Download Details page, click Download to open or save the file.
1.9 How Can I Get Help?
Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting
assistance with your Adept software and hardware. Additionally, you can access information
sources on Adept’s corporate website:
http://www.adept.com
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For Contact information:
http://www.adept.com/contact/americas
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For Product Support information:
http://www.adept.com/support/service-and-support/main
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For user discussions, support, and programming examples:
http://www.adept.com/forum/
Related Manuals
This manual covers the installation, operation, and maintenance of an Adept Cobra s600/s800
robot system. For additional manuals covering programming the system, reconfiguring
installed components, and adding optional components, see the following table.
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Chapter 1: Introduction
Table 1-2. Related Manuals
Manual Title Description
Adept Robot Safety Guide Contains safety information for Adept robots.
Adept SmartController User's
Guide
Adept T2 Pendant User's
Guide
Contains information on the installation and operation of
the Adept SmartController and the optional sDIO product.
Describes the use of the optional Adept manual control
pendant.
Adept ACE User’s Guide Instruction for the use of the Adept ACE software.
Adept Dual-Robot
Configuration Procedure
Contains cable diagrams and configuration procedures for a
dual-robot system.
Adept IO Blox User’s Guide Describes the IO Blox product.
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You can
access the ADL from the Adept website. Select:
Support > Document Library
from the Adept home page. To go directly to the Adept Document Library, type the following
URL into your browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
To locate information on a specific topic, use the Document Library search engine on the ADL
main page. To view a list of available product documentation, use the menu links located
above the search field.
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2.1 Transport and Storage
Eyebolt for lifting robot
after robot has been
unbolted from the
transportation pallet.
Place forklift or pallet-jack here.
This equipment must be shipped and stored in a temperature-controlled environment, within
the range –25 C to +55 C. The recommended humidity range is 5 to 90 percent, noncondensing. It should be shipped and stored in the Adept-supplied packaging, which is
designed to prevent damage from normal shock and vibration. You should protect the package
from excessive shock and vibration.
Use a forklift, pallet jack, or similar device to transport the packaged equipment (see the
following figure).
The robots must always be stored and shipped in an upright position in a clean, dry area that
is free from condensation. Do not lay the crate on its side or any other position: this could
damage the robot.
The s600 robot weighs 41 kg (90 lb) and the s800 weighs 43 kg (95 lb) with no options
installed.
Chapter 2: Robot Installation
Figure 2-1. Cobra s600 Robot on a Transportation Pallet
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Chapter 2: Robot Installation
2.2 Unpacking and Inspecting the Adept Equipment
Before Unpacking
Carefully inspect all shipping crates for evidence of damage during transit. Pay special
attention to any tilt and shock indication labels on the exteriors of the containers. If any
damage is indicated, request that the carrier’s agent be present at the time the container is
unpacked.
Upon Unpacking
Before signing the carrier’s delivery sheet, please compare the actual items received (not just
the packing slip) with your equipment purchase order and verify that all items are present and
that the shipment is correct and free of visible damage.
l
If the items received do not match the packing slip, or are damaged, do not sign the
receipt. Contact Adept as soon as possible.
l
If the items received do not match your order, please contact Adept immediately.
Inspect each item for external damage as it is removed from its container. If any damage is
evident, contact Adept. See How Can I Get Help? on page 15.
Retain all containers and packaging materials. These items may be necessary to settle claims
or, at a later date, to relocate equipment.
2.3 Repacking for Relocation
If the robot or other equipment needs to be relocated, reverse the steps in the installation
procedures that follow this chapter. Reuse all original packing containers and materials and
follow all safety notes used for installation. Improper packaging for shipment will void your
warranty. Specify this to the carrier if the robot is to be shipped.
CAUTION:Before unbolting the robot from the mounting
surface, fold the outer arm against the Joint 2 hardstops
to help centralize the center of gravity. The robot must
always be shipped in an upright orientation.
2.4 Environmental and Facility Requirements
The Adept robot system installation must meet the operating environment requirements
shown in the following table.
Table 2-1. Robot System Operating Environment Requirements
Ambient temperature 5 to 40° C (41 to 104° F)
Humidity 5 to 90%, non-condensing
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Altitude up to 2000 m (6500 ft)
Pollution degree 2
Robot protection class IP 20 (NEMA Type 1)
NOTE: For robot dimensions, see Dimension Drawings on page 101.
2.5 Mounting the Robot
Mounting Surface
The Adept Cobra s600 and s800 robots are designed to be mounted on a smooth, flat, level
tabletop. The mounting structure must be rigid enough to prevent vibration and flexing during
robot operation. Adept recommends a 25 mm (1 in.) thick steel plate mounted to a rigid tube
frame. Excessive vibration or mounting flexure will degrade robot performance. The following
figure shows the mounting hole pattern for the Adept Cobra s600 and s800 robots.
Chapter 2: Robot Installation
WARNING: Only qualified service personnel may install
or service the robot system.
NOTE:On the under side of the base there is a hole and a slot that can be used as
locating points for user-installed dowel pins in the mounting surface; see the
following figure. Using locating pins could improve the ability to remove and
reinstall the robot in the same position.
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Chapter 2: Robot Installation
+0.015
6
2x R4
0
45
50
10
160
160
200
80
90
+0.015
0
Ø 8
4X Ø 14 THRU
6
234
338
Units in mm
Figure 2-2. Mounting Hole Pattern for Robot
Robot Mounting Procedure
1.
Using the dimensions shown in the previous figure, drill and tap the mounting surface
for four M12 - 1.75 x 36 mm (or 7/16 - 14 UNC x 1.50 in.) machine bolts (bolts are usersupplied).
2.
While the robot is still bolted to the transportation pallet, connect the hydraulic lift to
the eyebolt at the top of the inner link (see Figure 2-1). Take up any slack, but do not lift
the robot at this time.
WARNING:Do not attempt to lift the robot at any points
other than the eyebolt provided. Do not attempt to extend
the inner or outer links of the robot until the robot has
been secured in position. Failure to comply could result
in the robot falling and causing either personnel injury or
equipment damage.
3.
Remove the four bolts securing the robot base to the pallet.
Retain these bolts for possible later relocation of the equipment.
4.
Lift the robot and position it directly over the mounting surface.
5.
Slowly lower the robot while aligning the base and the tapped mounting holes in the
mounting surface.
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Chapter 2: Robot Installation
NOTE:The base casting of the robot is aluminum and can easily be dented if
bumped against a harder surface.
6.
Verify that the robot is mounted squarely (can not rock back and forth) before tightening
the mounting bolts.
7.
Install the user-supplied mounting bolts and washers. Tighten bolts to the torque
specified in the following table.
WARNING:The center of mass of the robot may cause
the robot to fall over if the robot is not secured with the
mounting bolts.
NOTE:Check the tightness of the mounting bolts one week after initial installation,
and then recheck every 6 months. See Maintenance on page 55 for periodic
maintenance.
Table 2-2. Mounting Bolt Torque Specifications
Standard Size Specification Torque
Metric M12 x P1.75 ISO Property Class 8.8 85 N·m
SAE 7/16-14 UNC SAE J429 Grade 5 or
ASTM A449
65 ft-lb
2.6 Description of Connectors on Robot Interface Panel
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Chapter 2: Robot Installation
Figure 2-3. Robot Interface Panels - AIB and eAIB
The following connections are the same for both the AIB and the eAIB:
24 VDC—for connecting user-supplied 24 VDC power to the robot. The mating connector is
provided.
Ground Point—for connecting cable shield from user-supplied 24 VDC cable.
200/240 VAC—for connecting 200-240 VAC, single-phase, input power to the robot. The
mating connector is provided.
SmartServo x2 (IEEE1394) — for connecting the IEEE 1394 cable from the controller
(SmartServo 1.1) to the robot. The other robot connector can be used to connect to a second
robot or another 1394-based motion axis.
XIO (DB26, high density, female) — for user I/O signals for peripheral devices. This connector
provides 8 outputs and 12 inputs. For connector pin allocations for inputs and outputs, see
Using Digital I/O on Robot XIO Connector on page 43. That section also contains signal
nubmer to access these I/O signals via V+/eV+.
The following connections are different on the AIB and the eAIB:
XSYSTEM (eAIB only) — includes the functions of the XPANEL and XSLV on the AIB. This
requires either the eAIB XSLV Adapter cable, to connect to the XSYS cable, or an eAIB XSYS
cable, which replaces the XSYS cable. See Cable Connections from Robot to SmartController on
page 27.
XPANEL (DB26, high density, male; AIB only) — used only with Cobra i-series robots, for
connecting the front panel and MCP circuit.
XSLV (DB-9, female; AIB only) — for connecting the supplied XSYS cable from the controller
XSYS connector.
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Chapter 2: Robot Installation
XBELTIO (eAIB only) — adds two belt encoders, EXPIO at the back of the robot (which is not
available on an AIB), and an RS-232 interface.
RS-232 (DB-9, male; AIB only) — used only with Cobra i-series robots, for connecting a system
terminal.
Ethernet x2 (eAIB only) — these are not used with the SmartController CX, and are not
currently used with the SmartController EX.
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Page 24
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Chapter 3: System Installation
GND
XSLV
1
2
SmartServo
RS-232
XPANEL
AC INPUT
(200-240 VAC 1F)
+24V
DC INPUT
(24 VDC)
XIO
Ethernet to PC
IEEE 1394 Cable
Controller SmartServo (Port 1.1) to
AIB/eAIB SmartServo
Adept
SmartController
Adept Cobra
s600/s800 Robot
User-Supplied
24 VDC Power
Supply
User-Supplied
200-240 VAC,
single phase
Controller (XFP) to
Front Panel (XFP)
Front Panel
XSYS/eAIB XSYS Cable
Controller (XSYS) to
AIB/eAIB (XSLV/XSYSTEM)
24 VDC Power to
Controller (XDC1)
24 VDC Power
to Robot
(+24 VDC Input)
Controller (XMCP)
to Pendant
User-Supplied PC running
Adept ACE software
Terminator
Installed
User-Supplied Ground Wire
User-Supplied
Ground Wire on
Robot Base
STOP
R
Pendant
(optional)
R
ON
SmartServo IEEE-1394
1 2 3 4
SF ES HD
SW1
1.1 1.2 2.1 2.2
OK
1 2 3
XDIO
LANHPE
OFF
XSYS
CAMERA
Eth 10/100
XUSR
Device Net
XFP
RS-232/TERM
RS-232-1
XMCP
BELT ENCODER
SmartController CX
-+ -+
RS-422/485
XDC1 XDC2
24V 5A
*S/N 3562-XXXXX*
RS-232-2
3.1 System Cable Diagram
Figure 3-1. System Cable Diagram for Adept Cobra s600/s800 Robots - AIB Shown
NOTE:For additional system grounding information, see Installing 24 VDC Robot
Cable on page 30.
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3.2 Cable and Parts List
Part Description Notes
IEEE 1394 Cable, 4.5 M Standard cable—supplied
XSYS Cable, AIB only, 4.5 M Standard cable—supplied
eAIB XSYS Cable, 4.5 M Standard cable--supplied
eAIB XSLV Adapter Cable, 250 mm Standard for AIB-eAIB
Front Panel Cable Supplied with Front Panel
T1/T2 Pendant Adapter Cable, 2 M Supplied with Adept T2™
Chapter 3: System Installation
Table 3-1. Cable and Parts List
with system
with AIB system
with eAIB system
upgrade
pendant option
Power Cable Kit, contains 24 VDC
and AC power cables
XIO Breakout Cable, 12 inputs/
8 outputs, 5 M
Y Cable, for XSYS cable connections
to dual robots - attaches at the
controller only for an eAIB system
3.3 Installing the SmartController
Refer to the Adept SmartController User's Guide for complete information on installing the Adept
SmartController. This list summarizes the main steps.
1.
Mount the SmartController and Front Panel.
WARNING:Ensure that the front panel is located
outside of the workcell and outside of the work envelope.
2.
Connect the Front Panel to the SmartController.
3.
Connect the optional pendant to the SmartController.
Available as option
Available as option—see
XIO Breakout Cable on
page 48.
Available as option -- see
the Dual Robot Configuration
Guide.
4.
Connect user-supplied 24 VDC power to the SmartController.
Instructions for creating the 24 VDC cable, and power specification, are covered in the
Adept SmartController User's Guide.
5.
Install a user-supplied ground wire between the SmartController and ground.
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Chapter 3: System Installation
3.4 Connecting User-Supplied PC to SmartController
The SmartController for Adept Cobra s600/s800 robots must be connected to a user-supplied
PC for setup, control, and programming. The user loads the Adept ACE software onto the PC
and connects it to the SmartController via an Ethernet cable.
PC Requirements
The Adept ACE CD-ROM will display a ReadMe file when inserted in your PC. This contains
hardware and software requirements for running Adept ACE software.
NOTE:The specifications are also listed in the ACE PackXpert Datasheet, available
on the Adept corporate website.
3.5 Installing Adept ACE Software
You install Adept ACE from the Adept Software CD-ROM. Adept ACE needs Microsoft .NET
Framework. The Adept ACE Setup Wizard scans your PC for .NET, and installs it
automatically if it is not already installed.
1.
Insert the CD-ROM into the CD-ROM drive of your PC.
If Autoplay is enabled, the Adept software CD-ROM menu is displayed. If Autoplay is
disabled, you will need to manually start the CD-ROM.
NOTE:The online document that describes the installation process opens in
the background when you select one of software installation steps below.
2.
Especially if you are upgrading your Adept ACE software installation: from the Adept
ACE software CD-ROM menu, click Read Important Information.
3.
From the Adept ACE software CD-ROM menu, select:
Install the Adept ACE Software
The Adept ACE Setup wizard opens.
4.
Follow the online instructions as you step through the installation process.
5.
When the installation is complete, click Finish.
6.
After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu to close the
menu.
NOTE:You will have to restart the PC after installing Adept ACE software.
3.6 Cable Connections from Robot to SmartController
The following cables are shipped in the cable/accessories box.
l
Locate the IEEE 1394 cable (length 4.5 M).
l
For an AIB system, locate the XSYS cable.
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Chapter 3: System Installation
l
For an eAIB system, locate the eAIB XSYS cable or eAIB XSLV Adapter cable, which can
be used with an existing XSYS cable.
Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on the
SmartController, and the other end into a SmartServo connector on the AIB or eAIB interface
panel. See Figure 3-1.
AIB only:
l
Install the XSYS cable between the robot interface panel XSLV safety interlock connector
and XSYS connector on the SmartController, and tighten the latching screws.
eAIB only:
l
For a new SmartController system with an eAIB, the system will be supplied with a 15
ft (4.5 m) cable with connectors for XSYS (DB9) on one end and XSYSTEM (DB44) on
the other. Connect the XSYSTEM end to the eAIB, and the XSYS end to the
SmartController.
l
For a field upgrade from an old AIB, if you already have the old XSYS(DB9-DB9) cable
routed and all you want to do is adapt your new eAIB to plug into the old cable, use the
eAIB XSLV Adapter cable. This is a 1 ft (250 mm) long adapter that essentially turns the
XSYSTEM into the old XSLV connector. Connect the XSYSTEM end to the eAIB, and the
XSLV end to the old XSYS cable.
3.7 Connecting 24 VDC Power to Robot
Specifications for 24 VDC Power
Table 3-2. Specifications for 24 VDC User-Supplied Power Supply
Customer-Supplied Power Supply 24 VDC (± 10%), 150 W (6 A)
Circuit Protection
Power Cabling 1.5 – 1.85 mm² (16-14 AWG)
Shield Termination Braided shield connected to frame ground
a
User-supplied 24 V power supply must incorporate overload protection to limit peak
power to less than 300 W, or 8 A in-line fuse protection must be added to the 24 V
power source. (In case of multiple robots on a common 24 V supply, each robot must
be fused individually.)
NOTE:Fuse information is located on the AIB/eAIB electronics.
a
(21.6 V < Vin< 26.4 V)
Output must be less than 300 W peak
or
8 Amp in-line fuse
terminal at both ends of cable. See Figure
3-2.
The power requirements for the user-supplied power supply will vary depending on the
configuration of the robot and connected devices. Adept recommends a 24 V, 6 A power
supply to allow for startup current draw and load from connected user devices, such as
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
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Chapter 3: System Installation
solenoids and digital I/O loads. If multiple robots are sharing a 24 V power supply, increase
the supply capacity by 3 A for each additional robot.
CAUTION:Make sure you select a 24 VDC power
supply that meets the specifications in the previous table.
Using an under-rated supply can cause system problems
and prevent your equipment from operating correctly. See
the following table for recommended power supplies.
Table 3-3. Recommended 24 VDC Power Supplies
Vendor Name Model Ratings
XP Power JPM160PS24 24 VDC, 6.7 A, 160 W
Astrodyne SP-150-24 24 VDC, 6.3 A, 150 W
Mean Well SP-150-24 24 VDC, 6.3 A, 150 W
Details for 24 VDC Mating Connector
The 24 VDC mating connector and two pins are supplied with each system. They are shipped
in the cable/accessories box.
Table 3-4. 24 VDC Mating Connector Specs
Connector Details Connector receptacle, 2 position, type:
Molex Saber, 18 A, 2-Pin
Molex P/N 44441-2002
Digi-Key P/N WM18463-ND
Pin Details Molex connector crimp terminal,
female, 14-18 AWG
Molex P/N 43375-0001
Digi-Key P/N WM18493-ND
Recommended crimping tool, Molex Hand
Crimpers
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
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Molex P/N 63811-0400
Digi-Key P/N WM9907-ND
Page 30
Chapter 3: System Installation
NOTE:The 24 VDC cable is not supplied with the system, but is available in the
optional Power Cable kit. See Table 3-1.
Procedure for Creating 24 VDC Cable
1.
Locate the connector and pins shown in Table 3-4.
2.
Use 14-16 AWG wire to create the 24 VDC cable. Select the wire length to safely reach
from the user-supplied 24 VDC power supply to the robot base.
NOTE:You also must create a separate 24 VDC cable for the SmartController. That
cable uses a different style of connector. See the Adept SmartController User's Guide.
3.
Crimp the pins onto the wires using the crimping tool.
4.
Insert the pins into the connector. Confirm that the 24 V and 24 V return wires are in
the correct terminals in the plug.
5.
Prepare the opposite end of the cable for connection to the user-supplied 24 VDC power
supply.
Installing 24 VDC Robot Cable
1.
Connect one end of the shielded 24 VDC cable to your user-supplied 24 VDC power
supply. The cable shield should be connected to frame ground on the power supply. Do
not turn on the 24 VDC power until instructed to do so in Turning on Power on page
51. See the following figure.
2.
Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on the
interface panel on the back of the robot. The cable shield should be connected to the
ground point on the interface panel.
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Chapter 3: System Installation
–
+
24V, 8A
Frame Ground
24V, 5A
–
+
User-Supplied
Power Supply
24 VDC
Adept Cobra
s600/s800 Robot
User-Supplied Shielded
Power Cable
-
+
Adept SmartController
User-Supplied Shielded
Power Cable
Attach shield from user-supplied
cable to side of controller using
star washer and M3 x 6 screw.
Attach shield from usersupplied cables to frame
ground on power supply.
Attach shield from usersupplied cable to ground
screw on Cobra s600/s800
Interface Panel.
–
GND
+
3.8 Connecting 200-240 VAC Power to Robot
Figure 3-2. User-Supplied 24 VDC Cable
NOTE:In order to maintain compliance with standards, Adept recommends that
DC power be delivered over a shielded cable, with the shield connected to frame
ground at both ends of the cable.
WARNING:Appropriately sized Branch Circuit
Protection and Lockout / Tagout Capability must be
provided in accordance with the National Electrical Code
and any local codes.Ensure compliance with all local
and national safety and electrical codes for the
installation and operation of the robot system.
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Chapter 3: System Installation
Specifications for AC Power
Table 3-5. Specifications for 200/240 VAC User-Supplied Power Supply
Auto-Ranging
Nominal
Voltage
Ranges
Minimum
Operating
Voltage
Maximum
Operating
a
Voltage
Frequency/
Phasing
200 V to 240 V 180 V 264 V 50/60 Hz
Recommended
External Circuit
Breaker,
User-Supplied
10 Amps
1-phase
a
Specifications are established at nominal line voltage. Low line voltage can affect robot
performance.
Table 3-6. Typical Robot Power Consumption
Cobra Robot
Move
s600 No load—Adept cycle
5.5 kg—Adept cycle
b
Average
Power (W)
b
344 1.56 1559
494 2.25 2061
RMS Current
(A)
Peak Power
(W)
5.5 kg—all joints move 880 4.00 2667
s800 No load—Adept cycle
5.5 kg—Adept cycle
b
377 1.71 1406
b
531 2.41 1955
a
5.5 kg—all joints move 794 3.61 2110
a
For short durations (100 ms).
b
For details on Adept cycle, see Robot Specifications on page 108.
NOTE:The Adept robot system is intended to be installed as a piece of equipment
in a permanently-installed system.
WARNING:Adept systems require an isolating
transformer for connection to mains systems that are
asymmetrical or use an isolated (impedant) neutral.
Many parts of Europe use an impedant neutral.
DANGER:AC power installation must be performed by
a skilled and instructed person—refer to the Adept Robot
Safety Guide. During installation, unauthorized third
parties must be prevented from turning on power
through the use of fail-safe lockout measures.
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Chapter 3: System Installation
EENNL
L
F1 10A
Adept Cobra
s600/s800 and
i600/i800 Robots
1Ø 200–240VAC
User-Supplied
AC Power Cable
Note: F1 is user-supplied, must be slow blow.
1Ø
200–240VAC
20A
L = Line
N = Neutral
E = Earth Ground
Facility overvoltages Protection
The user must protect the robot from excessive overvoltages and voltage spikes. If the country
of installation requires a CE-certified installation, or compliance with IEC1131-2, the following
information may be helpful: IEC 1131-2 requires that the installation must ensure that
CategoryII overvoltages (i.e., line spikes not directly due to lightning strikes) are not exceeded.
Transient overvoltages at the point of connection to the power source shall be controlled not to
exceed overvoltages CategoryII, i.e., not higher than the impulse voltage corresponding to the
rated voltage for the basic insulation. The user-supplied equipment or transient suppressor
shall be capable of absorbing the energy in the transient.
In the industrial environment, nonperiodic overvoltage peaks may appear on mains power
supply lines as a result of power interruptions to high-energy equipment (such as a blown fuse
on one branch in a 3-phase system). This will cause high current pulses at relatively low
voltage levels. The user shall take the necessary steps to prevent damage to the robot system
(such as by interposing a transformer). See IEC 1131-4 for additional information.
AC Power Diagrams
Figure 3-3. Typical AC Power Installation with Single-Phase Supply
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Chapter 3: System Installation
EENL3L
L1
L2
F5 10A
F4 10A
Adept Cobra
s600/s800 and
i600/i800Robots
1Ø 200–240VAC
User-Supplied
AC Power Cable
Note: F4 and F5 are user-supplied, must be slow blow.
3Ø
200–240VAC
L = Line 1
N = Line 2
E = Earth Ground
200–240VAC
Figure 3-4. Single-Phase Load across L1 and L2 of a Three-Phase Supply
NOTE:If a three-phase power source is used, it must be symmetrically-earthed
(with grounded neutral). Connections called out as single-phase can be wired Lineto-Neutral or Line-to-Line.
Details for AC Mating Connector
The AC mating connector is supplied with each system. It is typically shipped in the
cable/accessories box. The supplied plug is internally labeled for the AC power connections (L,
E, N).
Table 3-7. AC Mating Connector Details
AC Connector details AC in-line power plug,
straight, female, screw
terminal, 10 A, 250 VAC
Qualtek P/N 709-00/00
Digi-Key P/N Q217-ND
The AC power cable is not supplied with the system, but is available in the
optional Power Cable kit; see Table 3-1.
Creating the 200-240 VAC Cable
1.
Locate the AC mating connector shown in the previous table.
2.
3.
Open the connector by unscrewing the screw on the shell and removing the cover.
Loosen the two screws on the cable clamp. See Figure 3-5.
4.
Use 18 AWG wire to create the AC power cable. Select the wire length to safely reach
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Chapter 3: System Installation
from the user-supplied AC power source to the robot base.
5.
Strip approximately 18 to 24 mm insulation from each of the three wires.
6.
Insert the wires into the connector through the removable bushing.
7.
Connect each wire to the correct terminal screw, and tighten the screw firmly.
8.
Tighten the screws on the cable clamp.
9.
Reinstall the cover and tighten the screw to seal the connector.
10.
Prepare the opposite end of the cable for connection to the facility AC power source.
Figure 3-5. AC Power Mating Connector
Installing AC Power Cable to Robot
1.
Connect the unterminated end of the AC power cable to your facility AC power source.
See AC Power Diagrams on page 33. Do not turn on AC power at this time.
2.
Plug the AC connector into the AC power connector on the interface panel on the robot.
3.
Secure the AC connector with the locking latch.
3.9 Grounding the Adept Robot System
Proper grounding is essential for safe and reliable robot operation. Follow these
recommendations to properly ground your robot system.
Grounding the Robot Base
The user can install a ground wire at the robot base to ground the robot. See Figure 3-6. The
robot ships with an M8 x 12 stainless steel, hex-head screw, and M8 split and flat washers
installed in the grounding hole. The user is responsible for supplying the ground wire to
connect to earth ground.
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Chapter 3: System Installation
Figure 3-6. Ground Point on Robot Base
Grounding Robot-Mounted Equipment
The following parts of an Adept Cobra s600/s800 robot are not grounded to protective earth:
the Joint 3 quill and the tool flange. If hazardous voltages are present at any user-supplied
robot-mounted equipment or tooling, you must install a ground connection from that
equipment/tooling to the ground point on the robot base. Hazardous voltages can be
considered anything in excess of 30 VAC (42.4 VAC peak) or 60VDC.
Also, for the grounding point on the tool flange, see Figure 7-4.
DANGER:Failing to ground robot-mounted equipment or
tooling that uses hazardous voltages could lead to injury or
death of a person touching the end-effector when an
electrical fault condition exists.
3.10 Installing User-Supplied Safety Equipment
The user is responsible for installing safety barriers to protect personnel from coming in
contact with the robot unintentionally. Depending on the design of the workcell, safety gates,
light curtains, and emergency stop devices can be used to create a safe environment. Read the
Adept Robot Safety Guide for a discussion of safety issues.
Refer to the Adept SmartController User's Guide for information on connecting safety equipment
into the system through the XUSR connector on the SmartController. There is a detailed section
on Emergency Stop Circuits and diagrams on recommended E-Stop configurations.
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Chapter 4: System Operation
4.1 Robot Status LED Description
The robot Status LED indicator is located on the top of the robot. The blinking pattern indicates
the status of the robot.
The current robot models support the UL standard. The LED on these robots is amber. See the
following figure and table.
Figure 4-1. Robot Status LED Indicator Location
Table 4-1. Status LED Definitions on UL-Certified Robots
LED Status 2-Digit Status Panel Display Description
Off Off 24 VDC not present
Off OK High Power Disabled
Amber, Solid ON High Power Enabled
Amber, Slow Blink N/A Selected Configuration Node
Amber, Fast Blink Fault Code(s) Fault, see the next section
Amber, Solid Fault Code(s) Fault, see the next section
4.2 Status Panel Fault Codes
The status panel, shown in the following figure, displays alpha-numeric codes that indicate
the operating status of the robot, including detailed fault codes. The following table gives
meanings of the fault codes. These codes provide information for quickly isolating problems
during troubleshooting.
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Chapter 4: System Operation
The displayed fault code will continue to be displayed even after the fault is corrected or
additional faults are recorded. All displayed faults will be cleared from the display, and reset
to a no-fault condition, upon successfully enabling high power to the robot, or power cycling
the 24 V supply to the robot.
Figure 4-2. Status Panel
Table 4-2. Status Panel Codes
LED Status Code LED Status Code
OK No Fault H# High Temp Encoder (Joint #)
ON High Power ON Status hV High Voltage Bus Fault
MA Manual Mode I# Initialization Stage (Step #)
24 24 V Supply Fault M# Motor Stalled (Joint #)
A# Amp Fault (Joint #) NV Non-Volatile Memory
B# IO Blox Fault (Address #) P# Power System Fault (Code #)
AC AC Power Fault PR Processor Overloaded
D# Duty Cycle Exceeded (Joint #) RC RSC Fault
E# Encoder Fault (Joint #) S# Safety System Fault (Code #)
ES E-Stop SE E-Stop Delay Fault
F# External Sensor Stop SW Watchdog Timeout
FM Firmware Mismatch T# Safety System Fault
(Code 10 + #)
FW IEEE 1394 Fault TR Teach Restrict Fault
h# h# High Temp Amp (Joint #) V# Hard Envelope Error (Joint #)
For more information on status codes, go to the Adept Document Library on the Adept website,
and in the Procedures, FAQs, and Troubleshooting section, look for the Adept Status Code
Summary document.
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4.3 Brakes
The robot has a braking system that decelerates the robot in an emergency condition, such as
when the emergency stop circuit is open or a robot joint passes its softstop.
The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety requirements.
It supports a customer-programmable E-Stop delay that maintains motor power for a
programmed time after the E-Stop is activated. This customizable feature allows the motors to
decelerate under servo control to a stop. This can aid in eliminating coasting or overshooting
on low friction mechanisms. It can also aid in the reduction of wear on highly-geared, highinertia mechanisms, while maintaining safety compliance per all standards.
The Programmable E-Stop delay can be set up in Adept ACE, in the robot editor. The default
setting is appropriate for most applications. See Programmable E-Stop Delay, in the next
section.
The braking system will not prevent you from moving the robot manually once the robot has
stopped (and high power has been removed).
In addition, Joint 3 has an electromechanical brake. The brake is released when high power is
enabled. When high power is turned off, the brake engages and holds the position of Joint 3.
Chapter 4: System Operation
Programmable E-Stop Delay
To set the programmable E-Stop delay from the ACE software, go to the object editor for the
robot, and enable Expert Access:
Object > Expert Access
NOTE:This requires a password to enable.
Once enabled, you will be able to see and modify the following three parameters (among
others):
l
Auto Mode E-Stop Shutdown Timeout
l
Hold-to-Run E-Stop Shutdown Timeout
l
Manual Mode E-Stop Shutdown Timeout
Each of these is the time, in seconds, after that mode E-Stop is asserted, in which V+/eV+ is
allowed to decelerate the robot, engage the brakes, and shut down power before the servo
nodes automatically shut down power. The value can be set from 0 (immediate power-off) to
0.512 seconds. If the deceleration is too slow, or the brake-on delay too long, the servo will
automatically cut power.
Brake Release Button
Under some circumstances you may want to manually position Joint 3 on the Z-Axis without
turning on high power. For such instances, a “Z” Brake Release button is located above the
robot status panel, as shown in Figure 4-2. When system power is on, pressing this button
releases the brake, which allows movement of Joint 3.
NOTE:24 Volt robot power must be ON to release the brakes.
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If this button is pressed while high power is on, high power will automatically shut down.
2
3
4
Auto
Mode
Manual
Mode
5
1
4.4 Front Panel
Chapter 4: System Operation
WARNING:Due to the effect of gravity, pressing the
Brake Release button may cause the quill and tool flange
to fall.
When the Brake Release button is pressed, Joint 3 may
drop to the bottom of its travel. To prevent possible
damage to the equipment, make sure that Joint 3 is
supported while releasing the brake and verify that the
end-effector or other installed tooling is clear of all
obstructions.
Figure 4-3. Front Panel
1.
XFP connector
Connects to the XFP connector on the SmartController.
2.
System 5 V Power-On LED
Indicates whether or not power is connected to the robot.
3.
Manual/Automatic Mode Switch
Switches between Manual and Automatic mode. In Automatic mode, executing
programs control the robot, and the robot can run at full speed. In Manual mode, the
system limits robot speed and torque so that an operator can safely work in the cell.
Manual mode initiates software restrictions on robot speed, commanding no more than
250 mm/sec.
4.
High Power On/Off Switch and Lamp
Controls high power, which is the flow of current to the robot motors. Enabling high
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Chapter 4: System Operation
power is a two-step process. An “Enable Power” request must be sent from the usersupplied PC, an executing program, or the Adept pendant. Once this request has been
made and the High Power On/Off lamp/button is blinking, the operator must press and
release this button, and high power will be enabled.
NOTE:The use of the blinking High Power button can be configured (or
eliminated) in software. Your system may not require this step.
NOTE:If enabled, the Front Panel button must be pressed while blinking
(default time-out is 10 seconds). If the button stops blinking, you must enable
power again.
5.
Emergency Stop Switch
The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety
requirements. Pressing this button turns off high power to the robot motors.
NOTE:The Front Panel must be installed to be able to Enable Power to the robot. To
operate without a Front Panel, the user must supply the equivalent circuits.
4.5 Connecting Digital I/O to the System
You can connect digital I/O to the system in several different ways. See the following table and
figure.
Table 4-3. Digital I/O Connection Options
Product I/O Capacity For more details
XIO Connector on Robot 12 inputs
8 outputs
XDIO Connector on
SmartController
Optional IO Blox Device,
connects to robot
Optional sDIO Module,
connects to controller
12 inputs
8 outputs
8 inputs, 8 outputs per device; up
to four IO Blox devices per robot
32 inputs, 32 outputs per
module; up to eight sDIO per
system
see Using Digital I/O on
Robot XIO Connector on page
43
see Adept SmartController
User's Guide
see Adept IO Blox User’s Guide
see Adept SmartController
User's Guide
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
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Chapter 4: System Operation
SF
IEEE-1394
X2
SC-DIO
LINK
*S/N 3563-XXXXX*
X1
24V 0.5A
R
OK
X4
- + - +
1.1 1.2
XDC1 XDC2
X3
1 2 3
RS-422/485
XUSR
XSYS
SF
XMCP
1.1
SmartController CS
LANHPE
OFF
24V 5A
ON
RS-232/TERM
XFP
HDES
XDIO
Eth 10/100
*S/N 3561-XXXXX*
SW1
Device Net
IEEE-1394
XDC1 XDC2
- + - +
1 2 3 4
OK
R
1.2
GND
XSLV
1
2
SmartServo
RS-232
XPANEL
AC INPUT
(200-240 VAC 1Φ)
+24V
DC INPUT
(24 VDC)
XIO
Optional
sDIO #1
SmartController
Cobra s600/s800 Robot
Optional
IO Blox Device
XIO Connector
12 Input signals: 1097 to 1108
8 Output signals: 0097 to 0104
XDIO Connector
12 Input signals: 1001 to 1012
8 Output signals: 0001 to 0008
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
sDIO #1
32 Input signals: 1033 to 1064
32 Output signals: 0033 to 0064
Figure 4-4. Connecting Digital I/O to the System, AIB shown
Table 4-4. Default Digital I/O Signal Configuration, Single Robot System
Location
Type Signal Range
Controller XDIO connector Inputs 1001–1012
sDIO Module 1 Inputs 1033–1064
Outputs 0001–0008
Outputs 0033–0064
sDIO Module 2 Inputs 1065–1096
Outputs 0065–0096
Robot 1 XIO connector
IO Blox 1 Inputs 1113–1120
a
Inputs 1097–1108
Outputs 0097–0104
Outputs 0105–0112
IO Blox 2 Inputs 1121–1128
Outputs 0113–0120
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Chapter 4: System Operation
Location
Type Signal Range
IO Blox 3 Inputs 1129–1136
Outputs 0121–0128
IO Blox 4 Inputs 1137–1144
Outputs 0129–0136
a
For Dual Robot systems, see Adept Dual-Robot Configuration Procedure.
Using Digital I/O on Robot XIO Connector
The XIO connector on the robot interface panel offers access to digital I/O, 12 inputs and 8
outputs. These signals can be used by V+ or eV+ to perform various functions in the workcell.
See the following table for the XIO signal designations.
l
12 Inputs, signals 1097 to 1108
l
8 Outputs, signals 0097 to 0104
Table 4-5. XIO Signal Designations
Pin No. Designation
Signal
Bank
V+/eV+ Signal
Number
1 GND
2 24 VDC
3 Common 1 1
4 Input 1.1 1 1097
5 Input 2.1 1 1098
6 Input 3.1 1 1099
7 Input 4.1 1 1100
8 Input 5.1 1 1101
9 Input 6.1 1 1102
10 GND
11 24 VDC
12 Common 2 2
13 Input 1.2 2 1103
14 Input 2.2 2 1104
15 Input 3.2 2 1105
16 Input 4.2 2 1106
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Chapter 4: System Operation
Pin 1Pin 9
Pin 10
Pin 18
Pin 26 Pin 19
Pin No. Designation
17 Input 5.2 2 1107
18 Input 6.2 2 1108
19 Output 1 0097
20 Output 2 0098
21 Output 3 0099
22 Output 4 0100
23 Output 5 0101
24 Output 6 0102
25 Output 7 0103
26 Output 8 0104
Optional I/O Products
Signal
Bank
V+/eV+ Signal
Number
These optional products are also available for use with digital I/O:
l
XIO Breakout Cable For information, see XIO Breakout Cable on page 48. This cable is
not compatible with the XIO Termination Block.
l
XIO Termination Block, with terminals for user wiring, plus input and output status
LEDs. Connects to the XIO connector with 6 foot cable. See the Adept XIO Termination
Block Installation Guide for details.
XIO Input Signals
The 12 input channels are arranged in two banks of six. Each bank is electrically isolated from
the other bank and is optically isolated from the robot’s ground. The six inputs within each
bank share a common source/sink line.
The inputs are accessed through direct connection to the XIO connector (see the previous
table), or through the optional XIO Termination Block. See the documentation supplied with
the termination block for details.
The XIO inputs cannot be used for REACTI programming, high-speed interrupts, or vision
triggers.
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XIO Input Specifications
Operational voltage range 0 to 30 VDC
“Off” state voltage range 0 to 3 VDC
“On” state voltage range 10 to 30 VDC
Typical threshold voltage Vin= 8 VDC
Operational current range 0 to 7.5 mA
“Off” state current range 0 to 0.5 mA
“On” state current range 2.5 to 7.5 mA
Typical threshold current 2.0 mA
Chapter 4: System Operation
Table 4-6. XIO Input Specifications
Impedance (Vin/I
Current at Vin= +24 VDC I
Turn on response time (hardware)
Software scan rate/response time
) 3.9 K Ω minimum
in
≤ 6 mA
in
5 µsec maximum
16 ms scan cycle/
32 ms max response time
Turn off response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
NOTE:The input current specifications are provided for reference. Voltage sources
are typically used to drive the inputs.
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
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Typical Input Wiring Example
Adept-Supplied Equipment
User-Supplied Equipment
Signal 1097
Part Present Sensor
4
Signal 1098
Feeder Empty Sensor
5
Signal 1099
Part Jammed Sensor
6
Signal 1100
Sealant Ready Sensor
7
Signal 1101
8
Signal 1102
+24V
GND
9
Bank 1
Common
Bank 2
Common
3
2
1
Signal 1103
13
Signal 1104
14
Signal 1105
15
Signal 1106
16
Signal 1107
17
Signal 1108
18
12
GND
10
+24V
11
Wiring
Terminal
Block
Typical User
Input Signals
Note: all Input signals
can be used for either
sinking or sourcing
configurations.
Bank 1 configured for
Sinking (NPN) Inputs
Bank 2 configured for
Sourcing (PNP) Inputs
Input Bank 2 Input Bank 1
XIO Connector – 26-Pin Female D-Sub
(equivalent circuit)
Chapter 4: System Operation
XIO Output Signals
The eight digital outputs share a common, high side (sourcing) driver IC. The driver is
designed to supply any kind of load with one side connected to ground. It is designed for a
range of user-provided voltages from 10 to 24 VDC and each channel is capable of up to 0.7 A
of current. This driver has overtemperature protection, shorted load protection, and is current
limiting. In the event of an output short or other overcurrent situation, the affected output of
the driver IC turns off and back on automatically to reduce the temperature of the IC. The
Figure 4-5. Typical User Wiring for XIO Input Signals
NOTE:The OFF state current range exceeds the leakage current of XIO outputs. This
guarantees that the inputs will not be turned on by the leakage current from the
outputs. This is useful in situations where the outputs are looped-back to the inputs
for monitoring purposes.
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Chapter 4: System Operation
driver draws power from the primary 24 VDC input to the robot through a self-resetting
polyfuse.
The outputs are accessed through direct connection to the XIO connector (see Table 4-5).
Optionally, use the XIO Termination Block. See the documentation supplied with the
termination block for details.
XIO Output Specifications
Table 4-7. XIO Output Circuit Specifications
Parameter Value
Power supply voltage range See Specifications for 24 VDC
Power on page 28.
Operational current range, per
channel
Total Current Limitation, all
channels on.
On state resistance (I
out
= 0.5 A)
Output leakage current I
I
≤ 700 mA
out
I
≤ 1.0 A @ 50° C ambient
total
I
≤ 1.5 A @ 25° C ambient
total
R
≤ 0.32 Ω @ 85° C
on
≤ 25 µA
out
Turn on response time 125 µsec max., 80 µsec typical
(hardware only)
Turn off response time 60 µsec. max., 28 µsec typical
(hardware only)
Output voltage at inductive load
turnoff (I
= 0.5A, Load = 1 mH)
out
DC short circuit current limit 0.7A ≤ I
Peak short circuit current I
(+V - 65) ≤V
LIM
≤ 4 A
ovpk
demag
≤ 2.5 A
≤ (+V - 45)
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
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Chapter 4: System Operation
M
Adept-Supplied Equipment
User-Supplied Equipment
Outputs 1-8
Typical User Loads
XIO Connector – 26-Pin Female D-Sub
+24VDC
19
Signal 0097
20
Signal 0098
21
Signal 0099
22
Signal 0100
23
Signal 0101
24
Signal 0102
25
Signal 0103
26
Signal 0104
GND
GND
Load
1
Customer
AC Power
Supply
10
M
Load
Load
L
N
(equivalent
circuit)
Wiring
Terminal
Block
Typical Output Wiring Example
XIO Breakout Cable
The XIO Breakout cable is available as an option—see the following figure. This cable connects
to the XIO connector on the AIB/eAIB, and provides flying leads on the user’s end, for
connecting input and output signals in the workcell. The cable length is 5 M (16.4 ft).
For the wire chart on the cable, see the following table.
NOTE:This cable is not compatible with the XIO Termination Block.
Figure 4-6. Typical User Wiring for XIO Output Signals
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
Figure 4-7. Optional XIO Breakout Cable
Page 48 of 128
Page 49
Chapter 4: System Operation
Pin 9Pin 1
Pin 18Pin 10
Pin 19 Pin 26
Table 4-8. XIO Breakout Cable Wire Chart
Signal
Pin No.
Designation Wire Color
1 GND White
2 24 VDC White/Black
3 Common 1 Red
4 Input 1.1 Red/Black
5 Input 2.1 Yellow
6 Input 3.1 Yellow/Black
7 Input 4.1 Green
8 Input 5.1 Green/Black
9 Input 6.1 Blue
10 GND Blue/White
11 24 VDC Brown
12 Common 2 Brown/White
13 Input 1.2 Orange
14 Input 2.2 Orange/Black
15 Input 3.2 Gray
16 Input 4.2 Gray/Black
17 Input 5.2 Violet
18 Input 6.2 Violet/White
19 Output 1 Pink
20 Output 2 Pink/Black
21 Output 3 Light Blue
22 Output 4 Light Blue/Black
23 Output 5 Light Green
24 Output 6 Light Green/Black
25 Output 7 White/Red
26 Output 8 White/Blue
Shell Shield
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Chapter 4: System Operation
4.6 Starting the System for the First Time
Follow the steps in this section to safely bring up your robot system. The steps include:
l
Verifying installation, to confirm all tasks have been performed correctly
l
Starting up the system by turning on power for the first time
l
Verifying all E-Stops in the system function correctly
l
Move each axis of the robot (generally with the pendant) to confirm it moves in the
proper directions
Verifying Installation
Verifying that the system is correctly installed and that all safety equipment is working
correctly is an important process. Before using the robot, make the following checks to ensure
that the robot and controller have been properly installed.
DANGER:After installing the robot, you must test it
before you use it for the first time. Failure to do this could
cause death, or serious injury or equipment damage.
Mechanical Checks
Verify that:
l
The robot is mounted level and that all fasteners are properly installed and tightened.
l
Any end-of-arm tooling is properly installed.
l
All other peripheral equipment is properly installed and in a state where it is safe to
turn on power to the robot system.
System Cable Checks
Verify the following connections:
l
Front Panel to the SmartController.
l
Pendant to the SmartController, via the pendant adapter cable.
l
User-supplied 24 VDC power to the controller.
l
User-supplied ground wire between the SmartController and ground.
l
One end of the IEEE 1394 cable into the SmartServo port 1.1 connector on the
SmartController, and the other end into a SmartServo connector on the robot interface
panel.
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Chapter 4: System Operation
l
XSYS cable between the XSYS connector on the SmartController and the robot interface
panel XSLV connector (AIB) or eAIB XSLV adapterand XSYSTEM connector (eAIB),
with the latching screws tightened.
or
eAIBXSYS(eAIB) cable between the robot interface panel XSYSTEM connector and
XSYS connector on the SmartController, and the latching screws tightened.
See Cable Connections from Robot to SmartController on page 27.
l
User-supplied 24 VDC power to the robot 24 VDC connector.
l
User-supplied 200/240 VAC power to the robot 200/240 VAC connector.
User-Supplied Safety Equipment Checks
Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.
Turning on Power
After the system installation has been verified, you are ready to turn on AC and DC power to
the system and start up Adept ACE.
1.
Manually move the robot joints away from the folded shipping position, see Transport
and Storage on page 17.
2.
Turn on the 200/240 VAC power.
DANGER:Make sure personnel are skilled and
instructed—refer to the Adept Robot Safety Guide.
3.
Turn on the 24 VDC power to the robot. The Status Panel displays OK. The Robot Status
LED will be off.
4.
Verify the Auto/Manual switch on the Front Panel is set to Auto Mode.
5.
Turn on the user-supplied PC and start Adept ACE.
l
Double-click the Adept ACE icon on your Windows desktop,
or
l
From the Windows Start menu bar, select:
Start > Programs > Adept Technology > Adept ACE > Adept ACE.
6.
On the Adept ACE Startup menu
l
Check Create New Workspace for Controller at Address:
to make the connection to the controller.
l
Select the IP address to match the setting being used by your PC.
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Chapter 4: System Operation
Starting Adept ACE
The robot should be on, and the status panel should display OK before proceeding.
1.
Turn on the user-supplied PC and start Adept ACE.
l
Double-click the Adept ACE icon on your Windows desktop,
or
l
From the Windows Start menu bar, select:
Start > Programs > Adept Technology > Adept ACE > Adept ACE.
2.
On the Adept ACE Getting Started screen:
l
Select New SmartController Workspace.
l
Select Create New Workspace for Selected Controller
to make the connection to the controller.
l
Select the IP address of the controller you wish to connect to, or manually type in
the IP address.
3.
Click OK. You will see the message “Working ... please wait”.
Enabling High Power
After you have started Adept ACE and connected to the controller, enable high power to the
robot motors.
Using Adept ACE to Enable High Power
1.
From the Adept ACE main menu, click the Enable High Power icon.
2.
Press and release the blinking High Power button on the Front Panel within 10 seconds.
The Front Panel is shown in Figure 4-3. (If the button stops blinking, you must Enable
Power again.)
NOTE:The use of the blinking High Power button can be configured (or eliminated)
in software. Your system may not require this step.
This step turns on high power to the robot motors and calibrates the robot.
l
The Robot Status LED glows amber.
l
The code on the Robot Status Panel displays ON. See Status Panel Fault
Codes on page 37.
Verifying E-Stop Functions
Verify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied). Test
each mushroom button, safety gate, light curtain, etc., by enabling high power and then
opening the safety device. The High Power push button/light on the Front Panel should go out
for each.
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Chapter 4: System Operation
Verify Robot Motions
Use the pendant (if purchased) to verify that the robot moves correctly. Refer to your Adept
pendant user's guide for complete instructions on using the pendant.
If the optional pendant is not installed in the system, you can move the robot using the Robot
Jog Control in the Adept ACE software. For details, see the Adept ACE User’s Guide.
4.7 Learning to Program the Adept Cobra s-Series Robot
To learn how to use and program the robot, see the Adept ACE User’s Guide, which provides
information on robot configuration, control and programming through the Adept ACE
software “point and click” user interface.
For V+/eV+ programming information, refer to the V+/eV+ user and reference guides in the
Adept Document Library (ADL) on the Adept website. For more details on the ADL, see Adept
Document Library on page 16.
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Page 55
5.1 Field-replaceable Parts
WARNING:Only qualified service personnel may install
or service the robot system.
The following parts are the only field-replaceable parts:
Part Adept Part Number
Encoder battery 09977-000 (3.6 V, 6.8 Ah)
AIB (Amp-In-Base) 04900-000
eAIB (Amp-In-Base)
Chapter 5: Maintenance
Table 5-1. Field-replaceable Parts
(This has replaced part number 02704-000)
s600 s800
19800-600 19800-800
These parts must only be replaced with the Adept part numbers in the preceding table.
5.2 Periodic Maintenance Schedule
The following table gives a summary of the preventive maintenance procedures and
guidelines on frequency.
Also, for cleanroom robots, see Cleanroom Maintenance on page 125; for IP-65 robots, see
Customer Requirements on page 116.
Table 5-2. Inspection and Maintenance
Item Period Reference
Check E-Stop, enable and key
switches, and barrier interlocks
Check robot mounting bolts 6 months Checking Robot Mounting Bolts on page 56
Check for signs of oil around
of harmonic drive area.
Lubricate Joint 3 (Z-axis) ball
screw
Replace encoder battery 5 to 10
6 months Checking Safety Systems on page 56
3 months Checking for Oil Leakage on page 56.
3 months Lubricating Joint 3 on page 57
years
Replacing the Encoder Battery Pack on page 68
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Chapter 5: Maintenance
NOTE:The frequency of these procedures will depend on the particular system, its
operating environment, and amount of usage. Use the times in this table as
guidelines and modify the schedule as needed.
WARNING:Lockout and tagout power before servicing.
WARNING:The procedures and replacement of parts
mentioned in this section should be performed only by
skilled or instructed persons, as defined in the Adept
Robot Safety Guide. The access covers on the robot are not
interlocked – turn off and disconnect power if covers or
the AIB/eAIB will be removed.
5.3 Checking Safety Systems
These tests should be done every six months.
1.
Test operation of:
l
E-Stop button on Front Panel
l
E-Stop button on pendant
l
Enabling switch on pendant
l
Auto/Manual switch on Front Panel
NOTE:Operating any of the above switches should disable high power.
2.
Test operation of any external (user-supplied) E-Stop buttons.
3.
Test operation of barrier interlocks, etc.
5.4 Checking Robot Mounting Bolts
Check the tightness of the base mounting bolts after one week, and then every 6 months.
Tighten to 85 N·m (63 ft-lb). Also check the tightness of all cover plate screws.
5.5 Checking for Oil Leakage
The Adept Cobra s600 and s800 robots use oil in the harmonic drive components for
lubrication. Periodically inspect the robot for any signs of oil in areas immediately outside of
the harmonic drive. Check these locations:
l
the area around Joint 1
l
the area around Joint 2
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l
inside the base of the robot, by opening the AIB/eAIB chassis and inspecting internally.
Contact Adept if you find any signs of oil in these areas.
5.6 Lubricating Joint 3
Use LG-2 Grease
(Lithium Soap/Synthetic Hydrocarbon),
Adept part number: 90401-04029.
Chapter 5: Maintenance
WARNING:Remove all power to the robot before
opening the AIB/eAIB chassis.
CAUTION:Using improper lubrication products on the
Adept Cobra s600 or s800 robot may cause damage to the
robot.
Lubrication Procedure
1.
Turn off main power to the controller and robot.
2.
Remove the outer link cover by removing screws located on the sides and top of the
cover. Carefully remove the cover.
For the IP-65 version, refer to Robot Outer Link Cover Removal and
Reinstallation on page 113 for instructions on removing the link cover, and IP-65
Bellows Replacement on page 119 for instructions on removing the bellows.
For the Cleanroom version, refer to Bellows Replacement on page 125 for
instructions on removing the bellows. The outer link cover is standard.
3.
Switch on 24 VDC power to the robot.
WARNING:When the outer link cover is removed, you
see the label shown in Figure 6-4. Do not remove the J3ENC or J4-ENC encoder cable connectors from their
sockets. If they are removed, the calibration data will be
lost and the robot must be run through a factory
recalibration process, which requires special software
and tools.
4.
Press the brake button and move Joint 3 to the top of its travel.
Remove any existing grease with a clean, lint-free, soft cloth.
5.
Using a syringe, apply a small bead of grease to the Joint 3 ball screw grooves, see
Figure 5-1.
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Chapter 5: Maintenance
Apply grease to the three vertical grooves and the spiral groove.
6.
Press the brake button and move Joint 3 to the bottom of its travel.
Remove any existing grease with a clean, lint-free, soft cloth.
7.
Apply a small bead of grease to any grooves of the ball screw that are now exposed.
8.
Move Joint 3 up and down several times to spread the grease evenly.
9.
Remove 24 VDC power from the robot.
10.
Reinstall the outer link cover.
For the Cleanroom version, replace the bellows.
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Page 59
Joint 3 Ball Screw
Lubrication Points
NOTE:
Apply grease to the
three vertical grooves
and the spiral groove
A
A
Section A-A
Top View Looking Down
Quill Shaft
Vertical Groove
Lube Point A
Vertical Groove
Lube Point B
Vertical Groove
Lube Point C
Upper Quill Grease Locations
Lower Quill Grease Locations
Joint 3 Ball Screw
Lubrication Points
A
A
Chapter 5: Maintenance
Figure 5-1. Lubrication of Joint 3 Quill
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Chapter 5: Maintenance
5.7 Replacing the AIB or eAIB Chassis
CAUTION:Follow appropriate ESD procedures during
the removal/replacement phases.
Removing the AIB or eAIB Chassis
1.
Switch off the SmartController.
2.
Switch off the 24 VDC input supply to the chassis.
3.
Switch off the 200/240 VAC input supply to the chassis.
4.
Disconnect the 24 VDC supply cable from the chassis +24 VDC input connector. For the
connector location, see Figure 2-3.
5.
Disconnect the 200/240 VAC supply cable from the chassis AC Input connector.
6.
Disconnect the XSYS cable from the chassis XSLV connector (AIB) or
Disconnect the eAIB XSYS cable or XSYS cable with eAIB XSLV Adapter from the
chassis XSYSTEM connector (eAIB).
7.
Disconnect the 1394 cable from the chassis SmartServo connector.
8.
Disconnect any other cables, which may be connected to the chassis, such as XIO, RS232, or any others.
9.
Using a 5 mm hex wrench, carefully unscrew the chassis securing screw, which is
shown in the following figure. Note that the screw does not need to be completely
removed in order to remove the chassis, as this screw is captured on the chassis heat
sink.
Figure 5-2. Securing Screw on AIB/eAIB Chassis
10.
While holding the chassis heat sink, carefully and slowly lower the chassis down (see
the following figure), so that enough access is available to remove the internal cables.
The chassis can be laid flat or placed to the right side of the robot for better access.
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Chapter 5: Maintenance
Figure 5-3. Opening and Removing Chassis
11. Disconnect the “white” amplifier cable from the amplifier connector located on the
chassis bracket. See the following figure.
Figure 5-4. Connectors on Chassis and PMAI/ePMAI Board - AIB Shown
12.
Carefully disconnect the INT1, INT2, ENC1, and ENC2 cables from their connectors on
the PMAI/ePMAI board, by disengaging the securing latches:
NOTE:The inside of the eAIB chassis looks slightly different from the AIB
shown, but the connectors listed are the same.
13. Using a 5 mm hex wrench, disconnect and remove the ground wire from the chassis.
Keep the screw for reassembly later. See the following figures.
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Chapter 5: Maintenance
Figure 5-5. Ground Screw on AIB Chassis
Figure 5-6. Ground Screw Hole on eAIBChassis
14.
Carefully remove the chassis from the robot, and place it aside. Tag it with the
appropriate fault diagnosis faults/errors and robot serial number information.
Installing a New AIB or eAIB Chassis
1.
Carefully remove the new chassis from its packaging, check it for any signs of damage,
and remove any foreign packing materials or debris from inside the chassis.
2.
Carefully place the chassis next to the robot.
3.
Using a 5 mm hex wrench, carefully connect the ground wire to the chassis.
4.
Carefully reconnect the cables you removed from their connectors on the PMAI/ePMAI
board, and engage the securing latches.
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Chapter 5: Maintenance
5.
Carefully connect the “white” amplifier cable to the amplifier connector located on the
chassis bracket.
Figure 5-7. Installing AIB Chassis in Robot Base
6.
Carefully insert the chassis into the robot base in the groove at the bottom of the base—
see Figure 5-7. Tilt the chassis up and into place against the robot, making sure that
none of the cables get trapped or pinched and that the chassis O-ring is not damaged
during installation.
7.
Once the chassis is in place, use a 5 mm hex wrench to tighten the chassis securing
screw. See Figure 5-2 for details.
8.
Connect the 200/240 VAC supply cable to the chassis AC input connector.
9.
Connect the XSYS cable to the chassis XSLV connector (AIB).
or
Connect the eAIB XSYS cable or XSYS cable with eAIB XSLV Adapter to the chassis
XSYSTEM connector (eAIB).
10.
Connect the 1394 cable to the chassis SmartServo connector.
11.
Connect any other cables that were connected to the chassis, such as XIO, RS-232, or
any others.
12.
Connect the 24 VDC supply cable to the chassis +24 VDC input connector.
13.
Switch on the 200/240 VAC input supply to the chassis.
14.
Switch on the 24 VDC input supply to the chassis.
15.
Switch on the SmartController.
16.
Once the system has completed booting, test the system for proper operation.
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Chapter 5: Maintenance
5.8 Commissioning a System with an eAIB
Commissioning a system involves synchronizing the robot with the eAIB.
NOTE:This section only applies to robots that have an eAIB amplifier. A robot
with an AIB amplifier does not need the Adept ACE commissioning.
For a new system with an eAIB, the robot and the eAIB will have been commissioned at the
factory and should not need commissioning.
If you are replacing an AIB with an eAIB, you will need to commission the system.
In rare cases with a new robot with an eAIB, you may need to commission the system.
l
If the system will not power up, and the robot status display shows SE, you need to
commission the system.
l
If the system will not power up in Manual mode, and the robot status display shows
TR, you need to commission the system.
Safety Commissioning Utilities
The Adept eAIB adds two functions that implement safety in hardware:
l
E-Stop
This serves as a backup to the standard software E-Stop process. The system will
always try to stop the robot using the software E-Stop first. The hardware E-Stop will
take over in the event of a failure of the software E-Stop.
l
Teach Restrict
This limits the maximum speed of the robot when it is operated in Manual mode. As
with the E-Stop, this is a hardware backup to software limits on robot speed. If the
software fails to limit the robot speed during manual operation, the hardware Teach
Restrict will disable power to the system.
These two functions are only in the eAIB amplifiers. They were not implemented in hardware
in the AIB amplifiers, so these utilities do not apply to those amplifiers.
These two functions are supported by four wizards:
l
E-Stop Configuration
This sets the E-Stop hardware delay to factory specifications.
l
E-Stop Verification
This verifies that the hardware E-Stop is functioning correctly.
l
Teach Restrict Configuration
This sets the hardware Teach Restrict maximum speed to factory specifications.
l
Teach Restrict Verification
This verifies that the hardware Teach Restrict is functioning correctly.
The initial utility screen will tell you which functions are commissioned. If a function is not
commissioned, its verification wizard will not be displayed. Any displayed verification wizard
can be run at any time, to ensure that its function is working properly.
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Prerequisites
l
The robot must be set up and functional.
l
The robot must use eAIB amplifiers.
The AIB amplifiers do not support these hardware functions, and these wizards will not
run.
l
Adept ACE software must be installed.
l
The Front Panel keyswitch must be in Auto mode.
Chapter 5: Maintenance
Figure 5-8. Adept Front Panel
l
No E-Stops can be activated.
l
For Configuration (E-Stop and Teach Restrict), the eAIB Commissioning Jumper must be
plugged into the XBELTIO jack on the eAIB.
NOTE:This is the only time that this jumper will be used. It is part number
11901-000, and must be removed for Verification and normal operation.
Figure 5-9. eAIB Commissioning Jumper
l
An Adept pendant is required for the Teach Restrict verification.
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Chapter 5: Maintenance
E-Stop Configuration Utility
This utility sets the E-Stop hardware delay to factory specifications.
NOTE:Ensure that the commissioning jumper is plugged into the XBELTIO jack on
the eAIB before you start this procedure.
Procedure
From within the Adept ACE software:
1.
Open the robot object editor.
2.
Select Configure > Safety Settings > Configure ESTOP Hardware Delay, then click
Next.
This procedure will configure Channel A and then Channel B.
It will then report the delay that it set for each.
3.
Reboot the SmartController.
On some systems, the SmartController will reboot automatically.
4.
Reboot the eAIB.
E-Stop Verification Utility
This utility verifies that the hardware E-Stop parameters are set correctly and that the
hardware E-Stop is working.
The hardware E-Stop must have already been configured for this wizard to run.
NOTE:If the commissioning jumper is plugged into the XBELTIO jack on the eAIB,
remove it before you start this procedure.
Procedure
From within the Adept ACE software:
1.
Open the robot object editor.
2.
Select Configure > Safety Settings > Verify ESTOP Hardware Delay, then click Next.
3.
Enable high power, if not already enabled, then click Next.
4.
Press an E-Stop button (on the Front Panel), then click Next.
The utility will confirm that the hardware delay has been verified for this robot, and
display the delay times for channels A and B.
5.
Reboot the SmartController.
On some systems, the SmartController will reboot automatically.
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Chapter 5: Maintenance
Teach Restrict Configuration Utility
This utility sets the hardware Teach Restrict maximum speed parameter to factory
specifications.
NOTE:Ensure that the commissioning jumper is plugged into the XBELTIO jack on
the eAIB before you start this procedure.
Procedure
NOTE:This procedure takes 2 or 3 minutes to complete.
From within the Adept ACE software:
1.
Open the robot object editor.
2.
Select Configure > Safety Settings > Configure Teach Restrict, then click Next.
3.
From the Prerequisite screen, click Next.
The wizard will go through all of the robot's motors, and display messages that it is
configuring Channel A and B for each.
It will then record the configuration, and display the target times that it set.
4.
Click Finish.
5.
Reboot the SmartController.
On some systems, the SmartController will reboot automatically.
Teach Restrict Verification Utility
This utility verifies that the Teach Restrict parameters are set correctly and that the hardware
Teach Restrict maximum speed control is working.
This is a two-part wizard. The first is run in Auto mode. The second is run in Manual mode.
Before running this verification utility, the Teach Restrict must be configured.
NOTE:If the commissioning jumper is plugged into the XBELTIO jack on the eAIB,
remove it before you start this procedure.
Automatic Mode Procedure
WARNING:The robot will move during this wizard.
Ensure that personnel stay clear of the robot work area.
From within the Adept ACE software:
1.
Open the robot object editor.
2.
Select Configure > Safety Settings > Verify Teach Restrict, then click Next.
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Chapter 5: Maintenance
3.
Teach a Start Position.
This can be any position that does not conflict with obstacles or the limits of joint
movements.
l
If the robot is already in such a position, you can just click Next.
l
Otherwise, move the robot to such a position, then click Next.
l
The screen will display the number of degrees that each joint is expected to move
during the verification process.
l
You can click Preview Motions on this screen to view the motions at slow speed.
The default speed is 10, but you can change that speed with this screen's speed
control.
l
You can click Move to Ready, to move the robot to the Ready position.
The robot will move each joint, in succession. It will generate an over-speed
condition for each, and verify that the hardware detected the over-speed
condition.
4.
Click Next, to proceed to the Manual Mode Procedure.
If the Automatic Mode Procedure fails, you will not be allowed to proceed with the
Manual Mode.
Manual Mode Procedure
The manual mode of this verification requires the use of an Adept pendant.
For this verification, the Front Panel keyswitch must be in Manual mode.
1.
From the Introduction screen, click Next.
l
Set the pendant to Joint mode.
l
Set the pendant manual control speed to 100.
2.
Click Next.
3.
Using the pendant, jog any of the robot's joints until power is disabled.
This indicates that the Teach Restrict function is working.
4.
Click Next.
The results of the verification will be displayed.
5.
Click Finish.
6.
Reboot the SmartController.
On some systems, the SmartController will reboot automatically.
7.
Reset the Front Panel keyswitch to Auto mode.
5.9 Replacing the Encoder Battery Pack
The data stored by the encoders is protected by a 3.6 V lithium backup battery pack located in
the base of the robot.
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Chapter 5: Maintenance
CAUTION:Replace the battery pack only with a 3.6 V,
6.8 Ah lithium battery pack, Adept P/N 09977-000.
NOTE:The previous battery, P/N 02704-000, has been superseded by this battery
pack. The battery replacement interval and procedure have not changed.
Battery Replacement Time Periods
If the robot is kept in storage and not in production, or the robot is turned off (no 24 VDC
supply) most of the time, then the battery should be replaced every 5 years.
If the robot is turned on with 24 VDC supplied to the robot more than half the time, then you
can increase the replacement interval to a maximum of 10 years.
NOTE:Dispose of the battery according to all local and national environmental
regulations regarding electronic components.
Battery Replacement Procedure
1.
Obtain the replacement battery pack.
2.
Switch off the SmartController.
3.
Switch off the 24 VDC input supply to the robot.
4.
Switch off the 200/240 VAC input supply to the robot.
5.
Disconnect the 24 VDC supply cable from the robot +24 VDC input connector. For the
connector location, see Figure 2-3.
6.
Disconnect the 200/240 VAC supply cable from the robot AC input connector.
7.
Using a 5 mm hex wrench, carefully unscrew the AIB or eAIB chassis securing screw.
See Figure 5-2. Note that the screw does not need to be completely removed in order to
remove the chassis, as this screw is captured on the chassis heat sink.
8.
While holding the chassis heat sink, carefully and slowly lower the chassis down, see
Figure 5-3. This provides access to the battery pack, as shown in the following figure.
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Chapter 5: Maintenance
Figure 5-10. Location of Encoder Battery Pack
9.
The battery cable assembly has two sets of connectors. Locate the secondary (unused)
battery cable in the wire bundle in the base area.
10.
Place the new battery pack next to the original one, but do not disconnect the original
one.
11.
Connect the new battery pack to the connectors on the secondary battery cable. Make
sure to verify the positive and negative connections are correct.
12.
Once the new battery pack is connected, disconnect and remove the original battery
pack.
NOTE: Dispose of the battery pack in accordance with all local and national
environmental regulations regarding electronic components.
13.
Place the new battery pack in the original location on the base of the robot.
14.
Close the robot by reversing the steps in the beginning of this procedure.
15.
Reconnect the 200/240 VAC supply cable to the robot AC input connector.
16.
Reconnect the 24 VDC supply cable to the robot +24 VDC input connector. For the
connector location, see Figure 2-3.
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Chapter 6: Optional Equipment Installation
6.1 Installing End-Effectors
The user is responsible for providing and installing any end-effector or other end-of-arm
tooling. End-effectors can be attached to the tool flange using four M6 screws. See Figure 7-4.
for a detailed dimension drawing of the tool flange.
A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in the through hole in the tool flange
and can be used as a keying or anti-rotation device in a user-designed end-effector.
If hazardous voltages are present at the end-effector, you must install a ground connection
from the base of the robot or the outer link to the end-effector. See Grounding Robot-Mounted
Equipment on page 36.
NOTE:A threaded hole is provided on the tool flange. See Figure 7-4. The user may
attach a ground wire through the quill connecting the outer link and the tool flange.
6.2 Removing and Installing the Tool Flange
The tool flange can be removed and reinstalled. If the flange is removed, it must be reinstalled
in exactly the same position to avoid losing the calibration for the system.
There is a setscrew on the flange that holds the rotational position of the flange on the quill
shaft. A steel ball behind the setscrew contacts the shaft in one of the vertical-spline grooves in
the shaft. Follow the procedures below to remove and reinstall the flange assembly.
Removing the Flange
1.
Turn off high power and system power to the robot.
2.
Remove any attached end-effectors or other tooling from the flange.
3.
Use a 2.5 mm hex wrench to loosen the setscrew. See Figure 6-1. Note the vertical-spline
groove that is in line with the setscrew. You must reinstall the flange in the same
position.
4.
Use a socket driver to loosen the two M4 socket-head screws.
5.
Slide the flange down slowly until it is off the shaft. Be careful not to lose the steel ball
(3.5 mm) that is inside the flange behind the setscrew.
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Tool flange
assembly
Setscrew
M4 Socket-head
cap screws
Quill shaft
Installing the Flange
1.
Make sure the steel ball is in the setscrew hole inside the flange. Hold it in place with
your finger as you get ready to install the flange.
Chapter 6: Optional Equipment Installation
Figure 6-1. Tool Flange Removal Details
2.
Slide the flange up on the quill shaft as far as it will go, and rotate until the setscrew is
lined up with the original vertical groove.
3.
Support the flange while using a 2.5 mm hex wrench to tighten the setscrew to finger
tight. Do not over-tighten the setscrew because this will cause the flange to be off-center
from the quill shaft.
4.
Use a socket driver to tighten one of the socket-head screws part of the way, then tighten
the other one the same amount. Alternate between the two screws so there is even
pressure on both once they are tight. The torque specification for each screw is 8 N·m
(70 in-lb).
6.3 User Connections on Robot
User Air Lines
There are five user air line connectors on the robot user panel on the back of Joint 1 (see Figure
6-2). The five air lines run through the robot up to another set of five matching connectors on
the top of the outer link. See Figure 6-3.
l
The two larger connectors are 6 mm diameter.
l
The three smaller connectors are 4 mm diameter.
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Chapter 6: Optional Equipment Installation
Figure 6-2. User Connectors on Joint 1 Figure 6-3. User Connectors on Joint 2
For information on the IO Blox connector, see Connecting Digital I/O to the System
on page 41. Also, refer to the Adept IO Blox User’s Guide for details.
User Electrical Lines
There is a 25-pin male connector (24 conductor) on the robot user panel on the back of Joint 1
for user electrical lines, see Figure 6-2. This connector is wired directly to a 25-pin female
connector on the top of the outer link, see Figure 6-3. These connectors can be used to run user
electrical signals from the user panel, through the robot, and up to the outer link.
Wire Specifications: Wire size: 0.1 mm2, Pin Numbers 1-24, 12 pairs, twisted in pairs as 1&2,
3&4, 5&6, . . . 23&24. Maximum current per line: 1 Amp.
6.4 Internal User Connectors
The internal user connectors, OP3/4, EOAPWR, and ESTOP, can be accessed with the Outer
Link cover removed—see Figure 6-4. The SOLND connector is located on the opposite of the
bulkhead area—see Figure 6-5.
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Chapter 6: Optional Equipment Installation
Figure 6-4. Internal User Connectors—OP3/4, EOAPWR, ESTOP
WARNING:When the Outer link cover is removed, you
see the label shown above. Do not remove the J3-ENC or
J4-ENC encoder cable connectors from their sockets. If
they are removed, the calibration data will be lost and
the robot must be run through a factory recalibration
process, which requires special software and tools.
Figure 6-5. SOLND Connector
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Chapter 6: Optional Equipment Installation
SOLND Connector
This 4-pin connector provides the output signals for the optional Robot Solenoid Kit. See the
previous figure and following table. For installation details, see Installing the Robot Solenoid
Kit on page 79.
Table 6-1. SOLND Connector Pinout
Pin # Description Pin Location
1 Output 3001
2 Ground
3 Output 3002
4 Ground
SOLND Connector
as viewed on robot
Mating Connector:
AMP/Tyco #172167-1, 4-pin Mini-Universal Mate-N-Lok
AMP/Tyco #770985-1, Pin Contact, Mini-Univ. Mate-N-Lok
OP3/4 Connector
This 4-pin connector provides the output signals for a second set of optional robot hand valve
solenoids, or other user-supplied devices. See the following table and figure. For the connector
location, see Figure 6-4.
Table 6-2. OP3/4 Connector Pinout
Pin # Description Pin Location
1 Output 3003
2 Ground
3 Output 3004
4 Ground
OP3/4 Connector
as viewed on robot
Mating Connector:
AMP/Tyco #172167-1, 4-pin Mini-Universal Mate-N-Lok
AMP/Tyco #770985-1, Pin Contact, Mini-Univ. Mate-N-Lok
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Pin 1
Pin 2
Pin 3
Pin 4
For optional second set of solenoids, or
other user supplied devices.
Pin 1
Pin 2
Pin 3
Pin 4
For optional Robot Solenoid Kit installation, or
other user supplied devices.
+24VDC
OP3/4 Connector Circuit
Signal 3003
GND
Signal 3004
GND
Load
Load
(equivalent
circuit)
+24VDC
SOLND Connector Circuit
Signal 3001
GND
Signal 3002
GND
Load
Load
(equivalent
circuit)
EOAPWR Connector
Chapter 6: Optional Equipment Installation
Figure 6-6. OP3/4 and SOLND Circuits
This 4-pin connector provides 24 VDC power and ground for user applications. See the
following table for the pinouts and the following section for the output specifications. For the
connector location, see Figure 6-4.
Table 6-3. EOAPWR Connector Pinout
Pin # Description Pin Location
1 24 VDC (see the next table for
current specs)
2 Ground
3 24 VDC (see the next table for
current specs)
4 Ground
Mating Connector:
AMP/Tyco #172167-1, 4-pin Mini-Universal Mate-N-Lok
AMP/Tyco #770985-1, Pin Contact, Mini-Univ. Mate-N-Lok
Internal User Connector Output Specifications
The output specifications in the following table apply to the EOAPWR, OP3/4, and SOLND
internal user connectors.
EOAPWR Connector
as viewed on robot
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Chapter 6: Optional Equipment Installation
Table 6-4. Internal User Connector Output Circuit Specifications
Parameter Value
Power supply voltage range
24 VDC ± 10%
See Specifications for 24 VDC
Power on page 28.
Operational current range, per channel I
Total Current Limitation, all channels
a
on
On-state resistance (I
out
= 0.5 A)
Output leakage current I
≤ 700 mA
out
I
≤ 1.0 A @ 50° C ambient
total
I
≤ 1.5 A @ 25° C ambient
total
R
≤ 0.32 Ω @ 85° C
on
≤ 25 µA
out
Turn-on response time 125 µsec. max., 80 µsec typical
(hardware only)
Turn-off response time 60 µsec. max., 28 µsec typical
(hardware only)
Output voltage at inductive load turnoff
(I
= 0.5 A, Load = 1 mH)
out
DC short circuit current limit 0.7A ≤ I
Peak short circuit current I
a
NOTE: Total current is the sum of the output current used by output
(+V - 65) ≤V
LIM
≤ 4 A
ovpk
demag
≤ 2.5 A
≤ (+V - 45)
signals 3001-3004 (SOLND and OP3/4) and any user current drawn from
EOAPWR.
ESTOP Connector
The Break-away E-STOP function is provided to enable a high power shutdown from the outer
link area. For example, it would be used if you want a break-away gripper to shut down robot
high power. It lets you disable high power through a user relay circuit inside the robot.
The 2-pin ESTOP connector provides a pair of contacts that can be used for a Break-away EStop function at the end of the arm. See the following table. The function is disabled by default
when the system is shipped. The user must enable this function using the Adept ACE software
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Chapter 6: Optional Equipment Installation
Pin 1
Pin 2
User-supplied normally-closed contact.
Can be connected to a break-away sensor
to cause an E-Stop condition when circuit
is open.
Note: This function is disabled by default - it must
be enabled in software.
Typical ESTOP
Connector Circuit
(see below), and connect a normally-closed circuit to Pins 1 and 2. When the circuit is opened,
the system will stop in an E-Stop condition. See the following table and figure.
Table 6-5. ESTOP Connector
Pin # Description Pin Location
1 ESTOP_INPUT
2 24 V
ESTOP Connector
as viewed on robot
Mating Connector:
AMP/Tyco #172165-1, 2-pin Mini-Universal Mate-N-Lock
AMP/Tyco #770985-1, Pin Contact, Mini-Univ. Mate-N-Lok
Figure 6-7. Internal E-Stop Connector Circuit
NOTE:This circuit will trigger an emergency stop of the local robot only. It does not
link to the E-Stop chain of the host SmartController.
Procedure to Enable the Break-away E-Stop Function
To enable the Break-away E-Stop function, you have to use the Adept ACE software to change
the default configuration:
NOTE:This requires that you have Expert access.
From the Adept ACE software:
To get into Expert mode:
1.
Click on Object.
2.
Click Expert Access.
You will be asked for a password, to enter Expert Access.
3.
Enter the Expert Access password.
To change the Break-away E-Stop parameter:
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Chapter 6: Optional Equipment Installation
1.
Double-click the robot in the structure pane.
This will open up the object editor for the robot.
2.
Select Break-away E-Stop Enable.
3.
Change the value of this field to True.
Figure 6-8. Screen Shot with Break-away E-Stop Parameter Field
NOTE:When the Break-away E-Stop function has been enabled, you must connect
a normally-closed circuit to pins 1 and 2 of the ESTOP connector, as described
above. If this is not done, the system will be in an E-Stop condition and you will
not be able to enable power.
6.5 Mounting Locations for External Equipment
Three locations are provided for mounting user’s external equipment on the robot arm. The
first location is on the J1 Harness Support (top side of the inner link), a second is on the top
side of the outer link, and a third is on the bottom side of the outer link. Each location has a
set of four tapped holes. See Figure 7-5 and Figure 7-6 for the dimensions.
NOTE:The cover on the outer link must be removed for maintenance (lubrication),
so keep this in mind when mounting any external equipment to the outer link
cover.
For information on mounting cameras on the robot, see Installing the Camera Bracket Kit on
page 85.
6.6 Installing the Robot Solenoid Kit
This procedure describes how to mount the 24 V Robot Solenoid option on Adept Cobra s600
and s800 robots. The kit is available as Adept P/N 02853-000.
The robot has been pre-wired to accommodate a bank of two 24 VDC solenoid valves. Power
for the internal mounting is accessible via a connector mounted inside the outer link cover (see
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Chapter 6: Optional Equipment Installation
Figure 6-10). The signals actuating the valves are directly switchable from the Adept ACE
software using software signals 3001 and 3002.
1.
Open the gripper object editor.
2.
Select the Open/Close tab.
3.
Set the signal values for Open, Close, and Release.
Figure 6-9. Setting Solenoid Signal Values
The Adept-supplied solenoids each draw a nominal 75 mA from 24 VDC.
The solenoid valve assembly consists of two independent valves (Valve #1 and Valve #2) on a
common manifold. The manifold supplies air at the user’s line pressure: minimum 28 psi
(0.19MPa), to maximum 114 psi (0.786 MPa). Each valve has two output ports, A and B. The
output ports are arranged so that when Port A is pressurized, Port B is not pressurized.
Conversely, when Port B is pressurized, Port A is not. In the Adept Cobra s600 and s800
robots, the air lines from Port A on each valve are plugged at the factory (at the solenoid
assembly).
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Chapter 6: Optional Equipment Installation
The Solenoid Kit for the Adept Cobra s600 and s800 robots is available through Adept. Contact
your Adept Sales Representative for current price and availability.
Table 6-6. Air Pressure
Air Pressure (Psi) Air Pressure (MPa)
28 - 114 0.19 - 0.786
Tools Required
l
Hex drivers
l
Cable ties
l
Diagonal wire cutters
l
Solenoid Valve upgrade Kit (Adept P/N 02853-000)
Procedure
1.
Turn off all power to the robot.
2.
Remove two screws on s600 (three screws on s800) on each side of the outer link cover.
Remove two screws on top and remove the cover.
3.
Connect the Internal Solenoid Valve Cable assembly to the Solenoid Manifold assembly,
by plugging the SOL 1 connector into Valve 1 and SOL 2 into Valve 2.
Figure 6-10. Solenoid Mounting Bracket with Connector and Spare Air Line
4.
Cut and discard the cable ties holding the spare air line at the top of the mounting
bracket. Move the air line away to facilitate the mounting of the solenoid manifold. See
Figure 6-10.
5.
Mount the solenoid manifold onto the bracket using the supplied M3 x 25 mm screws
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Chapter 6: Optional Equipment Installation
and washers. See Figure 6-11.
6. Insert the spare air line into the air intake coupling of the solenoid manifold. Make sure
the air line is pushed in all the way and secured in place by the intake coupling.
Confirm by gently pulling the air line.
NOTE:If you are installing on a Cleanroom or IP-65 robot, the spare air line is used
for a different purpose in those robots. You will have to provide a piece of 6 mm
tubing to run from one of the 6 mm user air lines at the Joint 2 cover to the air
intake coupling mentioned above.
7.
Plug the connector plug into the female connector jack (marked SOLND) on the bracket.
8.
Use cable ties to secure air line to the bracket as needed.
Figure 6-11. Solenoid Placement Using Mounting Hardware
9.
Install the appropriate lengths of 5/32 inch plastic tubing (supplied) into the two output
ports on the manifold.
l
Route the tubing up along the tower bracket next to the quill and down through
the center of the quill.
l
Use cable ties as needed to secure the tubing.
10.
Loosen the securing screw on the AIB/eAIB chassis, and lower the chassis down flat.
See Figure 5-2 for the location of the securing screw.
11.
Remove the cable strap plate by removing two screws and split washers. See Figure 6-
12. This allows the harness to move when you lift the J1 cover in the next step.
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Chapter 6: Optional Equipment Installation
Figure 6-12. Removing the Cable Strap Plate
12. Remove the four screws for the Joint 1 cover and lift the cover up so you have access to
the tubing under the cover. See Figure 6-13.
Figure 6-13. Connecting Spare Air Line to User Connector
13.
Disconnect the tubing from the 6 mm User Air fitting shown in Figure 6-13. Fold the
tubing out of the way and restrain using tie-wraps.
14.
Locate the spare air line contained in the tubing bundle inside the front end of the
cover. Remove the spare air line from the bundle.
15.
Insert the spare air line into the back of the empty 6 mm User Air fitting.
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NOTE:This 6 mm User Air connector and the 6 mm User Air connector at the top
of Figure 6-2 are not available for other uses after this modification.
16.
Reinstall the Joint 1 cover, taking care to ensure that all tubing is inside the cover and
nothing gets crimped or pinched while pushing the cover into position. Reinstall four
screws to secure the cover. Tighten the screws to 1.6 N·m (14 in-lb) of torque.
17.
Reinstall the cable strap plate that you removed earlier in the procedure.
18.
Raise the AIB/eAIB chassis to the closed position and tighten the securing screw.
19.
Reinstall the outer link cover and tighten the screws to 1.6 N·m (14 in-lb) of torque.
20.
Connect the factory air supply to the 6 mm User Air connector.
For the non-IP-65 robot, this is the air connector just modified.
21.
From the Adept ACE software:
a.
Click the Digital I/O button in the controller toolbar:
b.
The Digital I/O window will open.
c.
Check Robot.
d.
Select Signal 3001 and Signal 3002 (the first two blocks) to activate the solenoids
one at a time.
e.
The selected blocks will turn green, to indicate they are active.
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WARNING:Disconnect robot air pressure until this test
has been done to prevent unsecured pneumatic lines
from accidentally injuring personnel.
6.7 Installing the Camera Bracket Kit
The Adept Cobra Robot Camera Bracket Kit provides a convenient way of mounting cameras
to the outer link of the robot. The kit consists of the following:
l
One camera plate
l
Two camera brackets
l
One camera mount slide bracket
l
One camera mount channel
l
M4 X 12 mm screws
l
M4 stainless steel flat washers
l
M5 X 12 mm screws
Tools Required
l
M4 hex wrench
l
M3 hex wrench
Procedure
1.
Install the camera plate to the outer link with four M5 X 12 mm screws. See Figure 6-14
as you perform this procedure.
2.
Install the two camera brackets to the camera plate with two stainless steel washers and
two M4 X 12 mm screws for each bracket. (The camera brackets are not required unless
you are mounting more than one camera.)
3.
Mount the camera channel to the camera brackets or camera plate with
M4 x 12 mm screws.
4.
Mount the camera to the camera mount.
5.
Mount the camera and camera mount to the camera channel using M5 x 12 mm
screws.
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Camera Plate
Camera Brackets (optional)
Camera Channel
Camera
Mount
Figure 6-14. Mounting a Camera on the Robot
6.8 DeviceNet Communication Link
DeviceNet is a communications link that connects industrial I/O devices to a messagepacketing network. All nodes connect to the same backbone cable, eliminating the need for
individual wiring for each I/O point.
Adept incorporates the following DeviceNet-ready hardware in the Adept Cobra s600 and s800
robots:
l
Male micro-style 12 mm thread DIN connector at the robot base. See Figure 6-2.
l
Female micro-style 12 mm thread DIN connector for joint 2 of the robot. See Figure 6-3
and Figure 6-15. .
l
A non-standard DeviceNet cable, consisting of two shielded twisted pairs that connect
the base and joint 2 connectors. Adept considers this cabling to be a drop line with a
maximum total length of 6 meters (20 feet) and therefore uses the following wire sizes:
Cable
Type
Power pairs 24 AWG 22 AWG
Signal pairs 28 AWG 24 AWG
Adept
Wire Size
DeviceNet
“thin cable”
This means that total current on the power pairs must be limited to 2 A instead
of the standard 3 A in a DeviceNet trunk line. Because this is intended to be a
DeviceNet drop line with a maximum of 6 meters (20 feet), the full data rate
should be achievable. However, Adept has tested the internal cable only at 125k
baud.
See the Adept SmartController User's Guide for physical installation.
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Use Adept ACE, controller configuration, for software setup. This assigns the controller signals
to the physical ports of the DeviceNet nodes.
NOTE:The local setting baud rate must match the DeviceNet node’s setting.
From the Adept ACE software:
1.
Double-click on the controller in the tree structure pane.
This opens the object editor for the controller.
2.
Select Configure > Configure V+ (or eV+).
3.
Select DEVICENET.
4.
If there is no LOCAL statement, you are prompted to add one before scanning.
The LOCAL statement in the DeviceNet configuration specifies the MAC ID of the
Adept controller on the DeviceNet bus. The default setting is 0. Set the MAC ID so that
all the nodes on the bus have different MAC IDs.
LOCAL = "/MACID n /BAUD n".
This statement also defines the baud rate of the DeviceNet scanner. The baud rate
depends on multiple factors, such as the length of the DeviceNet cable, the DeviceNet
components on the bus, etc.
Syntax of the LOCAL statement:
LOCAL = "/MACID local_id
/BAUD baud_rate"
Parameter Description Range
local_id MACID for the Adept controller on the
0 - 63
bus
baud_rate Baud rate to be used on the DeviceNet 125K, 250K, or 500K
5.
Click Scan.
This scans for your physical DeviceNet nodes, and return the MACIDs for them.
6.
Use Add or Edit to set the values for DeviceNet.
7.
The fields that need to be entered are:
l
Index - a unique number for this mapping
l
Byte - usually starts at 1
This is the input or output block where mapping starts.
A byte refers to 8 inputs or outputs, so if you are using two 8-channel input
blocks, byte 1 would be the first input block, and byte 2 the second.
l
Bit - usually starts at 1
This is the bit within the byte where mapping starts.
To map the first input of an 8-channel input block, this would be 1.
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Male Connector (pins)
Female Connector (sockets)
4
3
5
1
2
3
5
2
4
1
Micro-Style
Connector
LEGEND:
1 Drain (bare)
2 V+ (red)
3 V- (black)
4 CAN_H (white)
5 CAN_L (blue)
(VIEWED FROM CONTACT END)
l
Signal - the input or output signal number (e.g. 1013 or 013) where mapping
starts.
l
Bit_length - the number of input or output signals to map.
l
MACID - the MACID returned by the Scan.
8.
When you are finished, click Done.
9.
Check that the assignments worked correctly by opening the Digital I/O tab.
The new signals should show up as being mapped now.
Recommended Vendors for Mating Cables and Connectors
A variety of vendors have molded cable assemblies for the Micro-style connector including
Brad Harrison, Crouse Hinds, Lumberg, Turk, and others. In addition, Hirshmann, Phoenix
Contact, and Beckhoff have mating micro connectors that have screw terminals in the plug to
allow the user to make custom cables.
Figure 6-15. Micro-Style Connector Pinouts for DeviceNet
6.9 Installing Adjustable Hardstops
Adept offers an adjustable hardstop kit for Joint 1 and Joint 2 on the Adept Cobra s600/s800
robots. These are user-installed options that can be used to limit the work envelope of the
robot. The Adept part number for the kit is 02592-000.
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Joint 1 Adjustable Hardstops
The Joint 1 Adjustable Hardstops consist of two black rubber stop cylinders, and the required
screws to install them. There are two locations for the hardstops on each side of the robot,
Position 1 and Position 2. See the following figure.
Figure 6-16. Joint 1 Adjustable Hardstops
Installation Procedure
1.
Remove the plug from desired threaded hole, Position 1 or 2, on each side of the robot.
2.
Install the adjustable hardstop into the threaded hole using an 8 mm hex wrench.
Tighten to a torque of 5.1 N·m (45 in-lbf).
3.
Repeat the process on the other side of the robot.
NOTE:The two sides do not have to have a hardstop in the same position, i.e., you
can use Position 1 on one side, and Position 2 (or none) on the other, if you choose.
Modifying Joint Limit Softstop Locations for Joint 1
After installing the adjustable hardstops, you must modify the softstop locations using the
Adept ACE software.
1.
From Adept ACE, select the robot in the tree structure pane.
2.
Open the robot editor.
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Figure 6-17. Robot Editor, with Joints Collapsed
3.
Click the ‘+’ in front of Joints, to display all of the joints.
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Figure 6-18. Robot Editor, with Joints Expanded
4.
Click the ‘+’ in front of [1], to open the values for joint 1.
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Figure 6-19. Robot Editor, with Joint 1 Expanded
5.
Highlight the current values for joint 1, and replace them with the new values. See the
following table for recommended softstop values for Position 1 or Position 2.
Table 6-7. Joint 1 Ranges for Adjustable Hardstops
Recommended
Hardstop Value
Joint Limit Softstop
J1 Hardstop Position 1 ± 50° Lower limit: – 49°
Upper limit: + 49°
J1 Hardstop Position 2 ± 88° Lower limit: – 87°
Upper limit: + 87°
6.
Once you have modified the upper and lower joint limit softstops, you must reboot the
system by cycling 24 VDC power to the SmartController. The new joint limits will be in
affect when the system reboot is done.
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Joint 2 Adjustable Hardstops
The Joint 2 Adjustable Hardstop kit (Figure 6-20) consists of two curved plates that are the
adjustable hardstops, a small, black rectangular device that is the fixed hardstop, and the
required screws to install them. The adjustable hardstop plates can be installed in different
locations, depending on how much you need to limit the Joint 2 range of motion.
Installation Procedure
1.
Slide the two adjustable hardstop plates into the space between inner and outer links.
See Figure 6-21. Looking up at the inner link from underneath, align the holes in the
plates with the holes in the inner link. See Figure 6-22.
Figure 6-20. Joint 2 Hardstop Kit
Figure 6-21. Joint 2 Adjustable Hardstop Locations
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12 thru holes for M5 x 10 screws,
for installing Joint 2 hardstops, located
30 degrees apart
Joint 2 Left Hardstop Plate,
installed in +81 degree position
Joint 2 Fixed
Hardstop Device
Joint 2
Positive
direction
Joint 2
Negative
direction
Joint 2 Right Hardstop Plate,
installed in -81 degree position
+
_
View of under side of Inner Link, looking up
Figure 6-22. Screw Locations for Joint 2 Adjustable Hardstops
2.
Use a 4 mm hex wrench to install three supplied M5 x 10 screws to secure the plate.
Tighten the screws to a torque of 4.5 N·m (40 in-lb). Repeat the process for the second
plate. Note that the plates can be installed in a number of different positions, depending
on how much you need to limit the range of Joint 2.
NOTE:The two sides do not have to have the hardstop in the same position, so the
workspace does not have to be symmetrical.
3.
Slide the fixed hardstop device into the slot on the underside of the outer link. See
Figure 6-23.
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Figure 6-23. Fixed Hardstop Block for Joint 2
4.
Use a 3 mm hex wrench to install two supplied M4 x 10 screws to secure the hardstop
device. Tighten the screws to a torque of 2.5 N·m (22 in-lb).
Modifying Joint Limit Softstop Locations for Joint 2
After installing the adjustable hardstops, you must modify the softstop locations using the
Adept ACE software.
1.
From the Adept ACE software, select the robot in the tree structure pane.
2.
Open the robot editor.
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Figure 6-24. Robot Editor, with Joints Closed
3.
Click the ‘+’ in front of Joints, to display all of the joints.
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Figure 6-25. Robot Editor, with Joints Expanded
4.
Click the ‘+’ in front of [2], to open the values for joint 2.
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Figure 6-26. Robot Editor, with Joint 2 Expanded
5.
Highlight the current values for joint 2, and replace them with the new values. See the
following table for recommended softstop values.
Table 6-8. Joint 2 Ranges for Adjustable Hardstops
Recommended
Hardstop Value
J2 Hardstop Position 1
J2 Hardstop Position 2
J2 Hardstop Position 3
Note: J2 Hardstops can be installed in a number of positions, depending
on how the robot workcell needs to be configured. The positions are
spaced 30° apart.
± 81°
± 51°
± 21°
Joint Limit Softstop
Lower limit: – 80°
Upper limit: + 80°
Lower limit: – 50°
Upper limit: + 50°
Lower limit: – 20°
Upper limit: + 20°
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6.
Once you have modified the upper and lower joint limit softstops, you must reboot the
system by cycling 24 VDC power to the SmartController. The new joint limits will be in
affect when the system reboot is done.
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